Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics

In order to model a Wheeled Mobile Robot(WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper,wheel dynamics with slip is modeled and introduced into the robot overall dynamic...

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Main Authors:	Tian, Yu, Sidek, Shahrul Na'im, Sarkar, Nilanjan
Format:	Conference or Workshop Item
Language:	English
Published:	2009
Subjects:	TA168 Systems engineering
Online Access:	http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/1/CICA2009_WMR_modeling_and_control.pdf

id	iium-22600
recordtype	eprints
spelling	iium-226002019-01-10T05:10:13Z http://irep.iium.edu.my/22600/ Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics Tian, Yu Sidek, Shahrul Na'im Sarkar, Nilanjan TA168 Systems engineering In order to model a Wheeled Mobile Robot(WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper,wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results. 2009 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/22600/1/CICA2009_WMR_modeling_and_control.pdf Tian, Yu and Sidek, Shahrul Na'im and Sarkar, Nilanjan (2009) Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics. In: IEEE Symposium on Computational Intelligence in Control and Automation (CICA 2009), 30 Mar - 2 Apr 2009, Nashville, Tennessee, USA. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4982776&tag=1
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA168 Systems engineering
spellingShingle	TA168 Systems engineering Tian, Yu Sidek, Shahrul Na'im Sarkar, Nilanjan Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics
description	In order to model a Wheeled Mobile Robot(WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper,wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results.
format	Conference or Workshop Item
author	Tian, Yu Sidek, Shahrul Na'im Sarkar, Nilanjan
author_facet	Tian, Yu Sidek, Shahrul Na'im Sarkar, Nilanjan
author_sort	Tian, Yu
title	Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics
title_short	Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics
title_full	Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics
title_fullStr	Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics
title_full_unstemmed	Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics
title_sort	modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics
publishDate	2009
url	http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/1/CICA2009_WMR_modeling_and_control.pdf
first_indexed	2023-09-18T20:34:24Z
last_indexed	2023-09-18T20:34:24Z
_version_	1777408948892073984

Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics

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