TY - GEN
T1 - Trajectory control of wheeled mobile robots not satisfying ideal velocity constraints by using slipping and skidding variations
T2 - 11th Latin-American Robotics Symposium on Robotics, LARS 2014
AU - Peña Fernández, C. A.
AU - Cerqueira, J. J.F.
AU - Lima, A. M.N.
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2015.
PY - 2015
Y1 - 2015
N2 - Control of wheeled mobile robots (WMRs) on trajectory tracking problems has given rise to an abundant proposals at recent years. Normally, WMRs are subject to phenomena like sliding, deformability or flexibility, which are strongly associated with violation of velocity constraints. Here, we propose a method to reduce the effects of slipping and skidding in WMRs by using an auxiliary control law whose robustness is based on slipping and skidding variations. It is considered the control law based on state-feedback linearization whose robustness with respect to the deformability of wheel will be based on singular perturbation methods. The tracking problem is studied by using the auxiliary control law proposed in a feedforward loop. The results show that the law proposed is robust to slipping and skidding and that tracking error converges toward zero.
AB - Control of wheeled mobile robots (WMRs) on trajectory tracking problems has given rise to an abundant proposals at recent years. Normally, WMRs are subject to phenomena like sliding, deformability or flexibility, which are strongly associated with violation of velocity constraints. Here, we propose a method to reduce the effects of slipping and skidding in WMRs by using an auxiliary control law whose robustness is based on slipping and skidding variations. It is considered the control law based on state-feedback linearization whose robustness with respect to the deformability of wheel will be based on singular perturbation methods. The tracking problem is studied by using the auxiliary control law proposed in a feedforward loop. The results show that the law proposed is robust to slipping and skidding and that tracking error converges toward zero.
KW - Rolling dynamics
KW - Singular perturbations
KW - Skidding
KW - Slipping
KW - Wheeled mobile robots
UR - https://www.scopus.com/pages/publications/84952013456
U2 - 10.1007/978-3-662-48134-9_5
DO - 10.1007/978-3-662-48134-9_5
M3 - Conference contribution
AN - SCOPUS:84952013456
SN - 9783662481332
T3 - Communications in Computer and Information Science
SP - 74
EP - 95
BT - Robotics - Joint Conference on Robotics, LARS 2014, SBR 2014, Robocontrol 2014, Revised Selected Papers
A2 - Osório, Fernando S.
A2 - Wolf, Denis Fernando
A2 - Branco, Kalinka Castelo
A2 - Grassi, Valdir
A2 - Becker, Marcelo
A2 - Romero, Roseli A. Francelin
PB - Springer Verlag
Y2 - 18 October 2014 through 23 October 2014
ER -