2 research outputs found
Sliding-mode adaptive control of Pioneer 3-DX wheeled mobile robot
Parameter identification scheme and discrete-time adaptive sliding-mode controller applied to Pioneer 3-DX wheeled mobile robot (WMR) are presented in this paper. The dynamical model for mobile robot with one pair of active wheels, time–varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been used in order to achieve robustness against parameter uncertainties (robot mass and moment of inertia). Two sliding-mode adaptive controllers corresponding to angular and position motion have been designed. Closed-loop circular trajectory tracking Pioneer 3-DX real-time control is presented
Synchronized closed-path following for a mobile robot and an Euler-Lagrange system
We propose and solve a synchronized path following problem for a differential drive
robot modeled as a dynamic unicycle and an Euler-Lagrange system. Each system is assigned
a simple closed curve in its output space. The outputs of systems must approach and
traverse their assigned curves while synchronizing their motions along the paths. The synchronization
problems we study in this thesis include velocity synchronization and position
synchronization. Velocity synchronization aims to force the velocities of the systems be equal
on the desired paths. Position synchronization entails enforcing a positional constraint
between the systems modeled as a constraint function on the paths. After characterizing
feasible positional constraints, a finite-time stabilizing control law is used to enforce the
position constraint