A DUAL MODE ADAPTIVE ROBUST CONTROLLER FOR DIFFERENTIAL DRIVE TWO ACTUATED WHEELED MOBILE ROBOT

Samaherni M. Dias, Aldayr D. Araujo, Pablo J. Alsina

Abstract

This paper is addressed to dynamic control problem of nonholonomic differential wheeled mobile robot. It presents a dynamic controller to mobile robot, which requires only information of the robot configuration, that are collected by an absolute positioning system. The control strategy developed uses a linear representation of mobile robot dynamic model. This linear model is decoupled into two single-input single-output systems, one to linear displacement and one to angle of robot. For each resulting system is designed a dual-mode adaptive robust controller, which uses as inputs the reference signals calculated by a kinematic controller. Finally, simulation results are included to illustrate the performance of the closed loop system.

References

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Paper Citation


in Harvard Style

M. Dias S., D. Araujo A. and J. Alsina P. (2007). A DUAL MODE ADAPTIVE ROBUST CONTROLLER FOR DIFFERENTIAL DRIVE TWO ACTUATED WHEELED MOBILE ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 39-44. DOI: 10.5220/0001630900390044


in Bibtex Style

@conference{icinco07,
author={Samaherni M. Dias and Aldayr D. Araujo and Pablo J. Alsina},
title={A DUAL MODE ADAPTIVE ROBUST CONTROLLER FOR DIFFERENTIAL DRIVE TWO ACTUATED WHEELED MOBILE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={39-44},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001630900390044},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - A DUAL MODE ADAPTIVE ROBUST CONTROLLER FOR DIFFERENTIAL DRIVE TWO ACTUATED WHEELED MOBILE ROBOT
SN - 978-972-8865-83-2
AU - M. Dias S.
AU - D. Araujo A.
AU - J. Alsina P.
PY - 2007
SP - 39
EP - 44
DO - 10.5220/0001630900390044