Path following of a class of non-holonomic mobile robot with underactuated vehicle body

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Path following of a class of non-holonomic mobile robot with underactuated vehicle body

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Published

A new dynamic model for a class of two-wheeled mobile robot (2WMR), whose mass centre locates below its wheel axis, is presented. The dynamic model considered as the motion of an underactuated vehicle body can represent the time-varying horizontal distance of the mass centre with respect to the configuration centre. This model can describe the dynamic behaviours of the robot more accurately. By the computed torque approach, a sliding mode controller based on the adaptive gain to overcome the disturbances of the system is proposed. Integrating with the velocity controller, the whole control system is made up of two closed-loop structures. The control algorithm efficiency is confirmed through simulation in the MATLAB environment.

Inspec keywords: variable structure systems; robot dynamics; closed loop systems; mobile robots; time-varying systems; wheels; mathematics computing; path planning; velocity control

Other keywords: nonholonomic mobile robot; path following; mass centre; velocity controller; dynamic model; time-varying horizontal distance; wheel axis; two-wheeled mobile robot; underactuated vehicle body; MATLAB environment; sliding mode controller; closed-loop structures; adaptive gain

Subjects: Robot and manipulator mechanics; Multivariable control systems; Time-varying control systems; Spatial variables control; Mobile robots; Velocity, acceleration and rotation control

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