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Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics

Tian, Yu and Sidek, Shahrul Na'im and Sarkar, Nilanjan (2009) Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics. In: IEEE Symposium on Computational Intelligence in Control and Automation (CICA 2009), 30 Mar - 2 Apr 2009, Nashville, Tennessee, USA.

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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 rolling 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. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results.

Item Type: Conference or Workshop Item (Other)
Additional Information: 3028/22600 (Print ISBN: 978-1-4244-2752-9, DOI: 10.1109/CICA.2009.4982776)
Uncontrolled Keywords: asymptotic stabilization , lateral slip phenomena , longitudinal slip phenomena , maneuverability , nonholonomic wheeled mobile robot , robot overall dynamics , slip model , time-invariant discontinuous feedback law , traction , underactuated dynamic system , wheel slip dynamics , wheel slip phenomenon
Subjects: T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Dr. Shahrul Naim Sidek
Date Deposited: 02 Apr 2012 11:15
Last Modified: 10 Jan 2019 13:10
URI: http://irep.iium.edu.my/id/eprint/22600

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