Abstract
A solid low-level movement control is essential for a successful contest robot. For two-wheeled mobile robots (WMR) numerous control approaches can be found in literature. In this contribution it is shown how the low-level control of a WMR can be systematically developed by model based design techniques. The resulting controller is able to asymptotically track given motion profiles for any reference point fixed to the robot chassis by a small extension of the well known look-ahead control.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Eghtesad, M., Necsulescu, D.S.: Study of the internal dynamics of an autonomous mobile robot. Robotics and Autonomous Systems 54(4), 342–349 (2006)
Feng, L.: Cross-coupling motion controller for mobile robots. IEEE Control Systems Magazine 13(6), 35–43 (1993)
Jakubiak, J., Lefeber, A.A.J., Tchon, K., Nijmeijer, H.: Two observer-based tracking algorithms for a unicycle mobile robot. Int. Journal of Applied Math. and Comp. Science 12(4), 513–522 (2002)
Kanayama, Y.: A stable tracking control method for an autonomous mobile robot, vol. 1, pp. 384–389 (May 1990)
Kim, D.-H., Oh, J.-H.: Tracking control of a two-wheeled mobile robot using input-output linearization. Control Engineering Practice 7(3), 369–373 (1999)
Li, L., Wang, F.-Y., Zhou, Q.: Integrated longitudinal and lateral tire/road friction modeling and monitoring for vehicle motion control. IEEE Transactions on Intelligent Transportation Systems 7(1), 1–19 (2006)
Lin, W.-S.: Adaptive critic anti-slip control of wheeled autonomous robot. IET Control Theory & Applications 1(1), 51–57 (2007)
Martinelli, A.: Modeling and estimating the odometry error of a mobile robot. In: None (2001)
Oriolo, G.: WMR control via dynamic feedback linearization: design, implementation, and experimental validation. IEEE Transactions on Control Systems Technology 10(6), 835–852 (2002)
Samson, C.: Feedback control of a nonholonomic wheeled cart in cartesian space, vol. 2, pp. 1136–1141 (April 1991)
Samson, C., Ait-Abderrahim, K.: Mobile robot control. part 1: Feedback control of nonholonomic wheeled cart in cartesian space. Research Report RR-1288, INRIA (1990)
Shojaei, K.: Adaptive trajectory tracking of WMRs based on feedback linearization technique, pp. 729–734 (August 2009)
Soetanto, D.: Adaptive, non-singular path-following control of dynamic wheeled robots 2, 1765–1770 (2003)
Wang, T.-Y.: Adaptive trajectory tracking control of a wheeled mobile robot via lyapunov techniques 1, 389–394 (2004)
Yun, X.: Internal dynamics of a wheeled mobile robot.  2, 1288–1294 (1993)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Grabmair, G. (2011). Model-Based Nonlinear Control of 2-WMR. In: Obdržálek, D., Gottscheber, A. (eds) Research and Education in Robotics - EUROBOT 2011. EUROBOT 2011. Communications in Computer and Information Science, vol 161. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21975-7_12
Download citation
DOI: https://doi.org/10.1007/978-3-642-21975-7_12
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21974-0
Online ISBN: 978-3-642-21975-7
eBook Packages: Computer ScienceComputer Science (R0)