ROBUST CONTROL OF A DIFFERENTIALLY STEERED WHEELED MOBILE ROBOT

Yulin Zhang; Daehie Hong; Steven A. Velinsky

doi:10.1115/IMECE1997-0431

ROBUST CONTROL OF A DIFFERENTIALLY STEERED WHEELED MOBILE ROBOT

Yulin Zhang, Daehie Hong, Steven A. Velinsky

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents a robust control algorithm for exponentially stable tracking control of a differentially steered Wheeled Mobile Robot (WMR). The exponential tracking property is guaranteed with kinematic uncertainties, such as wheel slippage and radius errors. The control algorithm has been designed for use in a WMR which is being specifically developed for applications in highway maintenance and construction. For such applications, the uncertainties arise due to the road surface conditions and the high loads encountered (both inertial and tool forces). However, the system under development is equipped with a two dimensional cable extension transducer which has been proven to be a rugged and accurate position measurement system (Hong, et al., 1995), so that the robust control algorithm developed is suitable and ensures good tracking performance. The algorithm is applicable to any differentially steered WMRs provided that accurate position measurement is available. The efficiency of the robust control algorithm is illustrated with numerical simulations.

Original language	English
Title of host publication	Dynamic Systems and Control
Publisher	American Society of Mechanical Engineers (ASME)
Pages	475-480
Number of pages	6
ISBN (Electronic)	9780791818244
DOIs	https://doi.org/10.1115/IMECE1997-0431
Publication status	Published - 1997
Externally published	Yes
Event	ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control - Dallas, United States Duration: 1997 Nov 16 → 1997 Nov 21

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume	1997-Q

Conference

Conference	ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control
Country/Territory	United States
City	Dallas
Period	97/11/16 → 97/11/21

Bibliographical note

Funding Information:
The authors gratefully acknowledge the Office of New Technology and Research of the California Department of Transportation for the support of this work through the Advanced Highway Maintenance and Construction Technology Research Center at the University of California, Davis.

Publisher Copyright:
© 1997 American Society of Mechanical Engineers (ASME). All rights reserved.

ASJC Scopus subject areas

Mechanical Engineering

Access to Document

10.1115/IMECE1997-0431

Cite this

ROBUST CONTROL OF A DIFFERENTIALLY STEERED WHEELED MOBILE ROBOT. / Zhang, Yulin; Hong, Daehie; Velinsky, Steven A.
Dynamic Systems and Control. American Society of Mechanical Engineers (ASME), 1997. p. 475-480 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 1997-Q).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhang, Y, Hong, D & Velinsky, SA 1997, ROBUST CONTROL OF A DIFFERENTIALLY STEERED WHEELED MOBILE ROBOT. in Dynamic Systems and Control. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 1997-Q, American Society of Mechanical Engineers (ASME), pp. 475-480, ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control, Dallas, United States, 97/11/16. https://doi.org/10.1115/IMECE1997-0431

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title = "ROBUST CONTROL OF A DIFFERENTIALLY STEERED WHEELED MOBILE ROBOT",

abstract = "This paper presents a robust control algorithm for exponentially stable tracking control of a differentially steered Wheeled Mobile Robot (WMR). The exponential tracking property is guaranteed with kinematic uncertainties, such as wheel slippage and radius errors. The control algorithm has been designed for use in a WMR which is being specifically developed for applications in highway maintenance and construction. For such applications, the uncertainties arise due to the road surface conditions and the high loads encountered (both inertial and tool forces). However, the system under development is equipped with a two dimensional cable extension transducer which has been proven to be a rugged and accurate position measurement system (Hong, et al., 1995), so that the robust control algorithm developed is suitable and ensures good tracking performance. The algorithm is applicable to any differentially steered WMRs provided that accurate position measurement is available. The efficiency of the robust control algorithm is illustrated with numerical simulations.",

author = "Yulin Zhang and Daehie Hong and Velinsky, {Steven A.}",

note = "Funding Information: The authors gratefully acknowledge the Office of New Technology and Research of the California Department of Transportation for the support of this work through the Advanced Highway Maintenance and Construction Technology Research Center at the University of California, Davis. Publisher Copyright: {\textcopyright} 1997 American Society of Mechanical Engineers (ASME). All rights reserved.; ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control ; Conference date: 16-11-1997 Through 21-11-1997",

year = "1997",

doi = "10.1115/IMECE1997-0431",

language = "English",

series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",

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AU - Velinsky, Steven A.

N1 - Funding Information: The authors gratefully acknowledge the Office of New Technology and Research of the California Department of Transportation for the support of this work through the Advanced Highway Maintenance and Construction Technology Research Center at the University of California, Davis. Publisher Copyright: © 1997 American Society of Mechanical Engineers (ASME). All rights reserved.

PY - 1997

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N2 - This paper presents a robust control algorithm for exponentially stable tracking control of a differentially steered Wheeled Mobile Robot (WMR). The exponential tracking property is guaranteed with kinematic uncertainties, such as wheel slippage and radius errors. The control algorithm has been designed for use in a WMR which is being specifically developed for applications in highway maintenance and construction. For such applications, the uncertainties arise due to the road surface conditions and the high loads encountered (both inertial and tool forces). However, the system under development is equipped with a two dimensional cable extension transducer which has been proven to be a rugged and accurate position measurement system (Hong, et al., 1995), so that the robust control algorithm developed is suitable and ensures good tracking performance. The algorithm is applicable to any differentially steered WMRs provided that accurate position measurement is available. The efficiency of the robust control algorithm is illustrated with numerical simulations.

AB - This paper presents a robust control algorithm for exponentially stable tracking control of a differentially steered Wheeled Mobile Robot (WMR). The exponential tracking property is guaranteed with kinematic uncertainties, such as wheel slippage and radius errors. The control algorithm has been designed for use in a WMR which is being specifically developed for applications in highway maintenance and construction. For such applications, the uncertainties arise due to the road surface conditions and the high loads encountered (both inertial and tool forces). However, the system under development is equipped with a two dimensional cable extension transducer which has been proven to be a rugged and accurate position measurement system (Hong, et al., 1995), so that the robust control algorithm developed is suitable and ensures good tracking performance. The algorithm is applicable to any differentially steered WMRs provided that accurate position measurement is available. The efficiency of the robust control algorithm is illustrated with numerical simulations.

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ROBUST CONTROL OF A DIFFERENTIALLY STEERED WHEELED MOBILE ROBOT

Abstract

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Bibliographical note

ASJC Scopus subject areas

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