Wheeled Mobile Robot Control : Theory, Simulation, and Experimentation
Martins, Nardênio Almeida
Wheeled Mobile Robot Control : Theory, Simulation, and Experimentation by Nardênio Almeida Martins, Douglas Wildgrube Bertol - 1st edition 2022 - 1 recurso en línea (XX, 209 páginas) 227 ilustraciones, 5 ilustraciones a color - Studies in Systems Decision and Control 380 2198-4190 .
Background on DWMR System Modeling -- Background on Control Problems and Systems -- Background on Simulation and Experimentation Environments -- Backstepping control -- Robust control: first-order sliding mode control techniques -- Approximated robust control: first-order quasi-sliding mode control techniques -- Adaptive robust control: adaptive fuzzy sliding mode control technique -- Adaptive robust control: adaptive neural sliding mode control technique -- Formation Control of DWMRs: sliding mode control techniques.
This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov's stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
9783030779122
10.1007/978-3-030-77912-2 doi
Robots móviles
TJ211.415 / 2022 EB
Wheeled Mobile Robot Control : Theory, Simulation, and Experimentation by Nardênio Almeida Martins, Douglas Wildgrube Bertol - 1st edition 2022 - 1 recurso en línea (XX, 209 páginas) 227 ilustraciones, 5 ilustraciones a color - Studies in Systems Decision and Control 380 2198-4190 .
Background on DWMR System Modeling -- Background on Control Problems and Systems -- Background on Simulation and Experimentation Environments -- Backstepping control -- Robust control: first-order sliding mode control techniques -- Approximated robust control: first-order quasi-sliding mode control techniques -- Adaptive robust control: adaptive fuzzy sliding mode control technique -- Adaptive robust control: adaptive neural sliding mode control technique -- Formation Control of DWMRs: sliding mode control techniques.
This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov's stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
9783030779122
10.1007/978-3-030-77912-2 doi
Robots móviles
TJ211.415 / 2022 EB