TY - JOUR
T1 - Wheeled mobile robot design with robustness properties
AU - Chen, Yung Yue
AU - Chen, Yung Hsiang
AU - Huang, Chiung Yau
N1 - Funding Information:
The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was financially supported by National Science Council, Taiwan, R.O.C. (Grant No. NSC101-2221-E-006-45-MY3).
Publisher Copyright:
© 2017, © The Author(s) 2017.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2018/1/1
Y1 - 2018/1/1
N2 - A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.
AB - A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.
UR - http://www.scopus.com/inward/record.url?scp=85041594903&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85041594903&partnerID=8YFLogxK
U2 - 10.1177/1687814017745253
DO - 10.1177/1687814017745253
M3 - Article
AN - SCOPUS:85041594903
SN - 1687-8132
VL - 10
JO - Advances in Mechanical Engineering
JF - Advances in Mechanical Engineering
IS - 1
ER -