Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics

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 dynamic...

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Main Authors:	Yu, Tian, Sidek, Shahrul Na'im, Sarkar , Nilanjan
Format:	Conference or Workshop Item
Language:	English
Published:	2010
Subjects:	TL Motor vehicles. Aeronautics. Astronautics
Online Access:	http://irep.iium.edu.my/12827/ http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf

id	iium-12827
recordtype	eprints
spelling	iium-128272019-01-10T05:09:56Z http://irep.iium.edu.my/12827/ Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics Yu, Tian Sidek, Shahrul Na'im Sarkar , Nilanjan TL Motor vehicles. Aeronautics. Astronautics 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. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf 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.
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TL Motor vehicles. Aeronautics. Astronautics
spellingShingle	TL Motor vehicles. Aeronautics. Astronautics Yu, Tian Sidek, Shahrul Na'im Sarkar , Nilanjan Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
description	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.
format	Conference or Workshop Item
author	Yu, Tian Sidek, Shahrul Na'im Sarkar , Nilanjan
author_facet	Yu, Tian Sidek, Shahrul Na'im Sarkar , Nilanjan
author_sort	Yu, Tian
title	Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_short	Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_full	Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_fullStr	Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_full_unstemmed	Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_sort	tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
publishDate	2010
url	http://irep.iium.edu.my/12827/ http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf
first_indexed	2023-09-18T20:21:58Z
last_indexed	2023-09-18T20:21:58Z
_version_	1777408167268843520

Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics

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