Wheeled Mobile Robot Control: Theory, Simulation, and Experimentation
- Length: 229 pages
- Edition: 1
- Language: English
- Publisher: Springer
- Publication Date: 2021-08-13
- ISBN-10: 3030779114
- ISBN-13: 9783030779115
- Sales Rank: #0 (See Top 100 Books)
This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
Preface Acknowledgements Contents About the Authors 1 Background on DWMR System Modeling 1.1 Introduction 1.2 DWMR Modeling and Description 1.2.1 Kinematic Model 1.2.2 Dynamic Model 1.2.3 Inclusion of Actuator Dynamics 1.2.4 Formulation of the Dynamic State-Space Model 1.2.5 Controllability of the Dynamic Model References 2 Background on Control Problems and Systems 2.1 Trajectory Tracking Problem 2.2 PD Dynamic Control 2.3 Posture Error Dynamics 2.4 Robustness Considerations 2.5 Generic Model for Nonlinear Systems References 3 Background on Simulation and Experimentation Environments 3.1 Implementation Environment 3.1.1 PowerBot DWMR 3.1.2 Trajectory Adopted 3.1.3 Ideal Scenario 3.1.4 Realistic Scenario 3.1.5 Experimental Scenario References 4 Backstepping Control 4.1 Introduction 4.2 Control Design 4.3 Simulations Using Matlab and/or MobileSim Simulator 4.3.1 Ideal Scenario 4.3.2 Realistic Scenario 4.4 Experimental Results Using PowerBot DWMR 4.5 Analysis and Discussion of Results 4.6 General Considerations References 5 Robust Control: First-Order Sliding Mode Control Techniques 5.1 Introduction 5.2 Control Design 5.2.1 Control Technique 5.2.2 Stability Analysis 5.2.3 Controller Synthesis 5.2.4 Controller Variants 5.3 Simulations Using Matlab and/or MobileSim Simulator 5.3.1 Ideal Scenario 5.3.2 Realistic Scenario 5.4 Experimental Results Using Powerbot DWMR 5.5 Analysis and Discussion of Results 5.6 General Considerations References 6 Approximated Robust Control: First-Order Quasi-sliding Mode Control Techniques 6.1 Introduction 6.2 Control Design 6.2.1 Approximated Controller Variants 6.2.2 Stability Analysis 6.3 Simulations Using Matlab and/or MobileSim Simulator 6.3.1 Ideal Scenario 6.3.2 Realistic Scenario 6.4 Experimental Results Using PowerBot DWMR 6.5 Analysis and Discussion of Results 6.6 General Considerations References 7 Adaptive Robust Control: Adaptive Fuzzy Sliding Mode Control Technique 7.1 Introduction 7.2 Background on Fuzzy Systems 7.3 Control Design 7.3.1 Controller Synthesis 7.3.2 Stability Analysis 7.3.3 Augmented Adaptation Law for Removing the PE Condition 7.3.4 Extraction of the Rule Base 7.4 Simulations Using Matlab and/or MobileSim Simulator 7.4.1 Ideal Scenario 7.4.2 Realistic Scenario 7.5 Experimental Results Using PowerBot DWMR 7.6 Analysis and Discussion of Results 7.7 General Considerations References 8 Adaptive Robust Control: Adaptive Neural Sliding Mode Control Technique 8.1 Introduction 8.2 Background 8.2.1 GL Notation 8.2.2 Approximation by RBFNNs 8.2.3 Modeling by RBFNNs 8.3 Control Design 8.3.1 Controller Synthesis 8.3.2 Stability Analysis 8.4 Simulations Using Matlab And/or MobileSim Simulator 8.4.1 Ideal Scenario 8.4.2 Realistic Scenario 8.5 Experimental Results Using PowerBot DWMR 8.6 Analysis and Discussion of Results 8.7 General Considerations References 9 Formation Control of DWMRs: Sliding Mode Control Techniques 9.1 Introduction 9.2 Problem Formulation 9.2.1 Kinematic and Dynamic Models of the DWMR 9.2.2 Trajectory Tracking 9.2.3 Leader-Follower Formation Control 9.3 Control Design 9.3.1 Leader Control Structure 9.3.2 Leader-Follower Trajectory Tracking Control 9.3.3 Formation Stability Analysis 9.4 Simulations Using Matlab and/or MobileSim Simulator 9.4.1 Ideal Scenario 9.4.2 Realistic Scenario 9.5 General Considerations References
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