TY - GEN
T1 - Control of nonholonomic mobile bases supported by measuring of the slipping and skidding variations
AU - Fernandez, C. A.Pena
AU - Cerqueira, J. J.F.
AU - Lima, A. M.N.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/27
Y1 - 2015/1/27
N2 - This work proposes a method in order to choose suitable controllers supported by the measuring of the slipping and skidding variations, i.e., When the nonholonomic kinematic constraints are not fully satisfied. The rolling dynamics associated with the wheels are give as conditions related with variations of the slipping and the skidding. The variations are used to state formally a tool to measure the rolling performance. The dynamic of the mobile base is give with the aid of the Lagrange approach and the singular perturbations theory. Subsequently, linear models for the traction forces and a invariant manifold are used to linearize the dynamic model. The proposed controller is adjusted by selecting appropriate parameters of an auxiliary control law. Finally, the norm of rolling performance is included as an indicator of how much the controller designed satisfies the conditions related with the variations of the slipping and the skidding.
AB - This work proposes a method in order to choose suitable controllers supported by the measuring of the slipping and skidding variations, i.e., When the nonholonomic kinematic constraints are not fully satisfied. The rolling dynamics associated with the wheels are give as conditions related with variations of the slipping and the skidding. The variations are used to state formally a tool to measure the rolling performance. The dynamic of the mobile base is give with the aid of the Lagrange approach and the singular perturbations theory. Subsequently, linear models for the traction forces and a invariant manifold are used to linearize the dynamic model. The proposed controller is adjusted by selecting appropriate parameters of an auxiliary control law. Finally, the norm of rolling performance is included as an indicator of how much the controller designed satisfies the conditions related with the variations of the slipping and the skidding.
KW - Nonholonomic mobile robots
KW - Skidding
KW - rolling dynamics
KW - singular perturbation theory
KW - slipping
UR - http://www.scopus.com/inward/record.url?scp=84923790196&partnerID=8YFLogxK
U2 - 10.1109/SBR.LARS.Robocontrol.2014.14
DO - 10.1109/SBR.LARS.Robocontrol.2014.14
M3 - Conference contribution
AN - SCOPUS:84923790196
T3 - Proceedings - 2nd SBR Brazilian Robotics Symposium, 11th LARS Latin American Robotics Symposium and 6th Robocontrol Workshop on Applied Robotics and Automation, SBR LARS Robocontrol 2014 - Part of the Joint Conference on Robotics and Intelligent Systems, JCRIS 2014
SP - 193
EP - 198
BT - Proceedings - 2nd SBR Brazilian Robotics Symposium, 11th LARS Latin American Robotics Symposium and 6th Robocontrol Workshop on Applied Robotics and Automation, SBR LARS Robocontrol 2014 - Part of the Joint Conference on Robotics and Intelligent Systems, JCRIS 2014
A2 - Branco, Kalinka Castelo
A2 - Francelin Romero, Roseli A.
A2 - Becker, Marcelo
A2 - Grassi, Valdir
A2 - Osorio, Fernando Santos
A2 - Wolf, Denis Fernando
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 Joint Conference on 2nd SBR Brazilian Robotics Symposium, 11th LARS Latin American Robotics Symposium and 6th Robocontrol Workshop on Applied Robotics and Automation, SBR LARS Robocontrol 2014
Y2 - 18 October 2014 through 23 October 2014
ER -