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Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics

Yu, Tian and Sidek, Shahrul Na'im and Sarkar , Nilanjan (2010) Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics. In: Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, 12-14 October 2009, Hollywood.

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Abstract

In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure wiling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system with second order nonholonomic constraints. Position tracking control law is developed to asymptotically stabilize the system while it is converging to the desired trajectory, if the traction is not saturated. Simulation results are provided to validate the theoretical results.

Item Type: Conference or Workshop Item (Other)
Additional Information: 3028/12827 (ISBN: 978-079184892-0)
Uncontrolled Keywords: nonholonomic wheeled, mobile robot, slip dynamics
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Dr. Shahrul Naim Sidek
Date Deposited: 16 Mar 2012 12:27
Last Modified: 10 Jan 2019 13:09
URI: http://irep.iium.edu.my/id/eprint/12827

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