Control of a Mobile Robot Subject to Wheel Slip
Wheel slip is inevitable when a Wheeled Mobile Robot (WMR) is moving at a high speed or on a slippery surface. In particular, when neither lateral nor longitudinal slips can be ignored in the dynamic model, a WMR becomes an under-actuated nonlinear dynamic system. To study the maneuverability of a W...
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Published in | Journal of intelligent & robotic systems Vol. 74; no. 3-4; pp. 915 - 929 |
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Main Authors | , |
Format | Journal Article |
Language | English |
Published |
Dordrecht
Springer Netherlands
01.06.2014
Springer Nature B.V |
Subjects | |
Online Access | Get full text |
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Summary: | Wheel slip is inevitable when a Wheeled Mobile Robot (WMR) is moving at a high speed or on a slippery surface. In particular, when neither lateral nor longitudinal slips can be ignored in the dynamic model, a WMR becomes an under-actuated nonlinear dynamic system. To study the maneuverability of a WMR in such a realistic environment, we model the overall WMR dynamics subject to wheel slip and propose control algorithms in regulation control and turning control tasks for the WMR. In regulation control, a time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. In turning control, a sliding mode-based extremum seeking control technique is applied to achieve stable and sharp turning. Simulation results are presented to validate the theoretical results. |
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Bibliography: | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 23 |
ISSN: | 0921-0296 1573-0409 |
DOI: | 10.1007/s10846-013-9871-1 |