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Wheeled mobile robot control [electronic resource] : theory, simulation, and experimentation / Nardênio Almeida Martins, Douglas Wildgrube Bertol.

Martins, Nardênio Almeida, author.; Bertol, Douglas Wildgrube, author.
2022
TJ211.415
Available Online
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Title
Wheeled mobile robot control [electronic resource] : theory, simulation, and experimentation / Nardênio Almeida Martins, Douglas Wildgrube Bertol.
Author
Martins, Nardênio Almeida, author.
ISBN
9783030779122 (electronic bk.)
3030779122 (electronic bk.)
3030779114
9783030779115
DOI
https://doi.org/10.1007/978-3-030-77912-2
Published
Cham, Switzerland : Springer, [2022]
Language
English
Description
1 online resource.
Item Number
10.1007/978-3-030-77912-2 doi
Call Number
TJ211.415
Dewey Decimal Classification
629.8/932
Summary
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.
Bibliography, etc. Note
Includes bibliographical references.
Access Note
Access limited to authorized users.
Digital File Characteristics
text file
PDF
Source of Description
Online resource; title from PDF title page (SpringerLink, viewed August 19, 2021).
Added Author
Bertol, Douglas Wildgrube, author.
Series
Studies in systems, decision and control ; v. 380.
Available in Other Form
Print version: 9783030779115
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Record Appears in
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All Resources
Background on DWMR System Modeling
Background on Control Problems and Systems
Background on Simulation and Experimentation Environments
Backstepping control
Robust control: First-order sliding mode control techniques
Approximated robust control: First-order quasi-sliding mode control techniques
Adaptive robust control: adaptive fuzzy sliding mode control technique
Adaptive robust control: adaptive neural sliding mode control technique
Formation Control of DWMRs: sliding mode control techniques.

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