论文信息 - Dynamics and Robust Control of Wheeled Mobile Robot

Dynamics and Robust Control of Wheeled Mobile Robot

Abstract In the paper a model of 3-wheel mobile robot is proposed. The model has been reduced to the model with two substitute wheels, one driven wheel and one steered wheel. The motion phenomenon is described using Lagrange equations with multipliers, which are equivalent to dry friction forces that act on wheels of the model. The control algorithm is based on the input-output linearization method and variable structure control approach. The major contribution of this paper lies in application of new approach to control wheeled mobile robot along desired trajectory in the present of parametric and nonparametric modelling inaccuracies.

Zenon Hendzel | W. Żylski

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