Title :
Nonholonomic wheeled mobile robot positioning controller using decoupling and variable structure model reference adaptive control
Author :
Araujo, Aldayr D. ; Alsina, Pablo J. ; Dias, Samaherni M.
Author_Institution :
Dept. of Electr. Eng., Fed. Univ. of Rio Grande do Norte, Natal-RN
Abstract :
This work addresses the dynamic control problem of nonholonomic direct differential-drive two-actuated-wheeled mobile robot and presents a robot positioning controller, which requires information about the robot configuration (x, y and thetas, that are collected by an absolute positioning system). The control strategy developed uses the mobile robot dynamic model linear representation. In this way, we must be change the system controlled variables from x, y, thetas to S (denoting the robot linear displacement) and thetas. So we can use a linear controller to solve the control problem. The model linear representation is decoupled into two systems and we design a VS-MRAC controller to each one. Finally, simulated results are presented and commented
Keywords :
adaptive control; mobile robots; motion control; position control; robot dynamics; variable structure systems; dynamic control problem; nonholonomic direct differential-drive two-actuated-wheeled mobile robot; nonholonomic wheeled mobile robot positioning controller; robot configuration; robot linear displacement; variable structure model reference adaptive control; Adaptive control; Control systems; Electric variables control; Kinematics; Mobile robots; Programmable control; Robot control; Torque control; Vehicle dynamics; Wheels;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657359