Distributed coordinate tracking control of multiple wheeled mobile robots

In this thesis, distributed coordinate tracking control of multiple wheeled-mobile robots is studied. Control algorithms are proposed for both kinematic and dynamic models. All vehicle agents share the same mechanical structure. The communication topology is leader-follower topology and the reference signal is generated by the virtual leader. We will introduce two common kinematic models of WMR and control algorithms are proposed for both kinematic models with the aid of graph theory. Since it is more realistic that the control inputs are torques so dynamic extension is studied following by the kinematics. Torque controllers are designed with the aid of backstepping method so that the velocities of the mobile robots converge to the desired velocities. Because of the fact that in practice, the inertial parameter of WMR maybe not exactly known or even unknown, so both dynamics with and without inertial uncertainties are considered in this thesis

Adaptive Motion Control of a Nonholonomic Vehicle

The stabilization of the motion of a nonholonomic vehicle is considered. The control system developed has a two-level architecture. The lower control level operates within the kinematic model of the vehicle to stabilize its motion to a desired trajectory. The upper control level uses the dynamic model of the vehicle and stabilizes the feedback obtained on the lower control level. The operation of the control system is studied when unknown bounded disturbances affect the motion. The adaptive motion control is proposed to deal with uncertain dynamic parameters of the vehicle. 1 Introduction The automatic steering of a nonholonomic vehicle attracts a great deal of attention from the research community [1]-[10]. The nonholonomic vehicle is a system with a non-integrable velocity constraint. By Brockett's necessary stability conditions [3], such a system is open-loop controllable, but it can not be stabilized to a point by means of smooth time-invariant state feedback. To stabilize such a ..