Real-Time Sliding-Mode Adaptive Control of a Mobile Platform Wheeled Mobile Robot

Filipescu, Adrian; Stancu, Alexandru; Filipescu, Silviu; Stâmâtescu, Grigore

doi:10.3182/20080706-5-kr-1001.00740

Cited by 5 publications

(3 citation statements)

References 9 publications

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“…Furthermore, the difference between the right wheel speed and the left wheel speed makes the robot change its heading angle. Detailed dynamic models of a differential drive robot appeared in [51].…”

Section: Robot Motion and Obstacle Avoidancementioning

confidence: 99%

Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators

Kim

2023

Applied Sciences

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For planning a robot’s path inside a large building with one or more elevators, we develop a topological map, called the building Voronoi graph. Using the building Voronoi graph, the robot finds the shortest path to the goal and follows the path. In the case where the robot detects an object with arbitrary shapes (e.g., human) while following the path, the robot avoids the object utilizing reactive control laws. The proposed reactive collision-avoidance control is unique in considering collision avoidance with map environments as well as (moving or static) objects having arbitrary shapes. As far as we know, our paper is novel in addressing how to make the robot follow the building Voronoi graph, while avoiding collision with map environments as well as objects with arbitrary shapes.

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Section: Robot Motion and Obstacle Avoidancementioning

confidence: 99%

Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators

Kim

2023

Applied Sciences

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“…The global position coordinates are denoted by (x, y). l denotes the distance between the left and right wheels, r is the wheel radius [45].…”

Section: Casementioning

confidence: 99%

Consensus Problem and Formation Control for Heterogeneous Multi-Agent Systems with Switching Topologies

Wang

et al. 2022

Electronics

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The cooperative control problem of discrete-time multi-agent systems (MASs) is discussed, and bounded uncertain time-delays and directed switching topologies are considered. By applying model transformations and matrix theory, an augmented system method is introduced to handle a heterogeneous time-delay MAS. Then, the consensus problem of the system is turned to the convergence issue of the product of innumerable row stochastic matrices. Sufficient conditions for asymptotic consensus of the system under directed switching topologies are obtained. Moreover, a novel consensus-based formation control strategy is designed to gain sufficient and necessary conditions for the formation control of a second-order differential robot system. Finally, the effectiveness of the obtained results is verified through simulations.

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“…The advantages of using SMC are fast response, good transient and robustness against system uncertainty and external disturbance. [15][16][17][18][19][20][21] Jorge et al 15 proposed SMC that exploits a property named differential flatness of the kinematics of nonholonomic systems. Shim et al 16 proposed SMC in which unicycle-like robots converge to a reference trajectory with bounded errors of position and velocity.…”

Section: Introductionmentioning

confidence: 99%

Robust control of a redundant wheeled drive system for energy saving and fail safe motion

Mohamed

Uchiyama

2017

Advances in Mechanical Engineering

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This article presents sliding mode-based robust tracking control for a redundant wheeled drive system, which is designed for energy saving and fail safe motion. Wheeled mobile robots are widely used in different applications such as a wheelchair and an automated guided vehicle because of their loading capability, low mechanical complexity, and simple engineering design. In addition, using wheeled mobile robots is an effective way to enhance the quality of life for elderly and disabled people to promote their independence and to extend their activities. Wheeled mobile robots are generally operated using embedded batteries, which determine the operating time. Therefore, saving energy motion is a significant requirement to extend the operation time. The dynamics of a redundant wheeled drive system is described. Distribution control and sliding mode control for wheeled mobile robots are proposed, and its stability is guaranteed based on the Lyapunov stability theory. Finally, the robustness and effectiveness of the proposed method are demonstrated experimentally, providing superior results to conventional state feedback control and robust tracking in the real environment with less energy.

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Real-Time Sliding-Mode Adaptive Control of a Mobile Platform Wheeled Mobile Robot

Cited by 5 publications

References 9 publications

Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators

Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators

Consensus Problem and Formation Control for Heterogeneous Multi-Agent Systems with Switching Topologies

Robust control of a redundant wheeled drive system for energy saving and fail safe motion

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