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This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov's stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.

Wheeled Mobile Robot Control: Theory, Simulation, and Experimentation

1.       Chapter 1 "Model development and control objectives"

1.1   Introduction

1.2   Development of the kinematic model with or without uncertainties and/or disturbances

1.3   Development of the dynamic model with or without uncertainties and/or disturbances

1.4   Trajectory tracking control problem

 

 

2.       Chapter 2 "Classic control"

2.1   Introduction

2.2   Problem formulation

2.3   Control design

2.4   Simulations using Matlab and/or MobileSim simulator

2.5   Experimental results using PowerBot robot

2.6   Analysis and discussion of results

2.7   Final considerations

 

3.       Chapter 3 "Robust control: first order sliding mode control technique"

3.1   Introduction

3.2   Problem formulation

3.3   Control design

3.4   Simulations using Matlab and/or MobileSim simulator

3.5   Experimental results using PowerBot robot

3.6   Analysis and discussion of results

3.7   Final considerations

 

4.       Chapter 4 "Adaptive robust control: neural sliding mode control technique"

4.1   Introduction

4.2   Problem formulation

4.3   Control design

4.4   Simulations using Matlab and/or MobileSim simulator

4.5   Experimental results using PowerBot robot

4.6   Analysis and discussion of results

4.7   Final considerations

 

5.       Chapter 5 "Adaptive robust control: adaptive fuzzy sliding mode control technique - Variant I"

5.1   Introduction

5.2   Problem formulation

5.3   Control design

5.4   Simulations using Matlab and/or MobileSim simulator

5.5   Experimental results using PowerBot robot

5.6   Analysis and discussion of results

5.7   Final considerations

 

6.       Chapter 6 "Adaptive robust control: adaptive fuzzy sliding mode control technique - Variant II"

6.1   Introduction

6.2   Problem formulation

6.3   Control design

6.4   Simulations using Matlab and/or MobileSim simulator

6.5   Experimental results using PowerBot robot

6.6   Analysis and discussion of results

6.7   Final considerations

 

7.       Chapter 8 "Vision-based control by digital image processing"

7.1   Introduction

7.2   Problem formulation

7.3   Control design

7.4   Simulations using Matlab

7.5   Experimental results using MiaBot Pro robot

7.6   Analysis and discussion of results

7.7   Final considerations

 

8.       Chapter 7 "Robustness to kinematic and/or dynamic disturbances: integral sliding mode control technique"

8.1   Introduction

8.2   Problem formulation

8.3   Control design

8.4   Simulations using Matlab

8.5   Experimental results using MiaBot Pro robot

8.6   Analysis and discussion of results

8.7   Final considerations

 

9.       Chapter 9 "Dynamic control considering actuator dynamics"

9.1   Introduction

9.2   Problem formulation

9.3   Control design

9.4   Simulations using Matlab

9.5   Analysis and discussion of results

9.6   Final considerations

 

10.   Chapter10 "Formation control of wheeled mobile robots"

10.1           Introduction

10.2           Problem formulation

10.3           Control design

10.4           Simulations using Matlab

10.5           Analysis and discussion of results

10.6           Final considerations