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Nonlinear Control of Wheeled Mobile Robots

  • Book
  • © 2001

Overview

Authors:
  1. Warren Dixon
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  2. Darren M. Dawson
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  3. Erkan Zergeroglu
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  4. Aman Behal
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Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 262)

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Table of contents (7 chapters)

  1. Front Matter

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  2. Model development and control objectives

    Pages 1-32

  3. Robust control

    Pages 33-47

  4. Adaptive control

    Pages 49-69

  5. Output feedback control

    Pages 71-83

  6. Vision based control

    Pages 85-111

  7. Robustness to kinematic disturbances

    Pages 113-130

  8. Beyond wheeled mobile robots

    Pages 131-149

  9. Back Matter

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Keywords

About this book

This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results. The final chapter describes how the control techniques developed for wheeled mobile robots can be applied to solve other problems with similar governing differential equations (e.g., twin rotor helicopters, surface vessels). Several appendices are included to provide the reader with the mathematical background utilized in the control development and stability analysis. Two appendices are also included that provide specific details with regard to the modifications that were done to commercially available mobile robots (e.g., a K2A manufactured by Cybermotion Inc. and a Pioneer II manufactured by Activemedia) to experimentally demonstrate the performance of the torque input controllers.

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