PL EN


Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
2004 | 14 | 4 | 477-496
Tytuł artykułu

Modeling and control of a 4-wheel skid-steering mobile robot

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.
Rocznik
Tom
14
Numer
4
Strony
477-496
Opis fizyczny
Daty
wydano
2004
otrzymano
2004-06-01
poprawiono
2004-09-01
Twórcy
  • Institute of Control and Systems Engineering, Poznań University of Technology, ul. Piotrowo 3A, 60-965 Poznań, Poland
  • Institute of Control and Systems Engineering, Poznań University of Technology, ul. Piotrowo 3A, 60-965 Poznań, Poland
Bibliografia
  • Brockett R.W. (1983): Asymptotic stability and feedback stabilization, In: Differential Geometric Control Theory (R.W. Brockett, R.S. Milman and H.J. Susmann, Eds.). - Boston: Birkhauser, pp. 181-191.
  • Caracciolo L., De Luca A. and Iannitti S. (1999): Trajectory tracking control of a four-wheel differentially driven mobile robot. - IEEE Int. Conf. Robotics and Automation, Detroit, MI, pp. 2632-2638.
  • Campion G., Bastin G. and D'Andrea-Novel B. (1996): Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. - IEEE Trans. Robot. Automat., Vol. 12, No. 1, pp. 47-62.
  • Dixon W.E., Dawson D.M., Zergeroglu E. and Behal A. (2001): Nonlinear Control of Wheeled Mobile Robots. - London: Springer.
  • Dixon W.E., Behal A., Dawson D.M. and Nagarkatti S.P. (2003): Nonlinear Control of Engineering Systems, A Lyapunov-Based Approach. - Boston: Birkhauser.
  • Gutowski R. (1971): Analytic Mechanics. - Warsaw: Polish Scientific Publishers, (in Polish).
  • De Luca A. and Oriolo G. (1995): Modeling and control of nonholonomic mechanical systems, In: Kinematics and Dynamics of Multi-Body Systems (J. Angeles and A. Kecskemethy, Eds.). - CISM Lecture Notes, No. 360, Wien: Springer, pp. 277-342.
  • Mazur A. (2001): Control algorithms for the kinematics and the dynamics of mobile manipulators: A comparative study. - Arch. Contr. Sci., Vol. 11, No. 3-4, pp. 223-244.
  • Morin P. and Samson C. (2003): Practical stabilization of driftless systems on Lie groups: The transverse function approach. - IEEE Trans. Automat. Contr., Vol. 48, No. 9, pp. 1496-1508.
  • Morin P. and Samson C. (2002): Feedback control of nonholonomic wheeled vehicles: A survey. - Arch. Contr. Sci., Vol. 12, No. 48, pp. 7-36.
  • Murray R.M. and Sastry S. (1993): Nonholonomic motion planning: Steering using sinusoids. - IEEE Trans. Automat. Contr., Vol. 38, No. 5, pp. 700-716.
  • Jedwabny T., Kiełczewski M., Kowalski M., Ławniczak M., Michalski M., Michałek M., Pazderski D. and Kozłowski K. (2004): Nonholonomic mobile robot MiniTracker research and educational purposes. - Proc. 35-th Int. Symp. Robotics, Paris, France, pp. 254-259.
  • Kozłowski K. and Majchrzak J. (2002): A new control algorithm for a nonholonomic mobile robot. -Arch. Contr. Sci., Vol. 12, No. 48, pp. 37-69.
  • Kozłowski K. and Pazderski D. (2003): Control of a four-wheel vehicle using kinematic oscillator. - Proc. 6-th Int. Conf. Climbing and Walking Robots and their Supporting Technologies, CLAWAR 2003, Catania, Italy, pp. 135-146.
  • Pacejka H.B. (2002): Tyre and Vehicle Dynamics. - Oxford: Butterworth-Heinemann.
  • Pazderski D., Kozłowski K. and Dixon W.E. (2004): Tracking and regulation control of a skid steering vehicle. - Amer. Nuclear Soci, 10-th Int.Topical Meeting Robotics and Remote Systems, Gainesville, Florida, USA, pp. 369-376.
  • Spong M.W. (1992): On the robust control of robot manipulators. - IEEE Trans. Automat. Contr., Vol. 37, No. 11, pp. 1782-1786.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv14i4p477bwm
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.