Path following of a class of non-holonomic mobile robot with underactuated vehicle body

Author

Yue, Ming ; Hu, Pengcheng ; Sun, Wen

Author_Institution

State Key Lab. of Struct. Anal. for Ind. Equip., Dalian Univ. of Technol., Dalian, China

Volume

4

Issue

10

fYear

2010

fDate

10/1/2010 12:00:00 AM

Firstpage

1898

Lastpage

1904

Abstract

A new dynamic model for a class of two-wheeled mobile robot (2WMR), whose mass centre locates below its wheel axis, is presented. The dynamic model considered as the motion of an underactuated vehicle body can represent the time-varying horizontal distance of the mass centre with respect to the configuration centre. This model can describe the dynamic behaviours of the robot more accurately. By the computed torque approach, a sliding mode controller based on the adaptive gain to overcome the disturbances of the system is proposed. Integrating with the velocity controller, the whole control system is made up of two closed-loop structures. The control algorithm efficiency is confirmed through simulation in the MATLAB environment.

Keywords

closed loop systems; mathematics computing; mobile robots; path planning; robot dynamics; time-varying systems; variable structure systems; velocity control; wheels; MATLAB environment; adaptive gain; closed-loop structures; dynamic model; mass centre; nonholonomic mobile robot; path following; sliding mode controller; time-varying horizontal distance; two-wheeled mobile robot; underactuated vehicle body; velocity controller; wheel axis;

fLanguage

English

Journal_Title

Control Theory & Applications, IET

Publisher

iet

ISSN

1751-8644

Type

jour

DOI

10.1049/iet-cta.2009.0617

Filename

5611712