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Abstract
This paper uses the general framework of dynamic feedback linearization for stabilization of mobile robots. Instead of using unicycle model for control design, this paper uses a comprehensive model which is based on the physics of differential drive robots. The model used in the paper describes nonholonomic underactuated behavior of robot in terms of the physical dimensions and velocities of the wheels. Next, the proposed control is applied to this model and it is theoretically proven that dynamic feedback linearization can successfully solve the stabilization problem. To evaluate the performance of proposed control, another controller is designed based on the Lyapunov's method. The performance of the two controllers and the complexity of control gain tuning process are compared. Next, the robustness of the proposed control against uncertainties is studied. The results of analysis and simulations show that the proposed control has very good performance against parametric uncertainties.
Highlights
Mobile robots are used for many applications [1] which range from service robotics [2] to mapping and surveillance applications [3], rescue robotics [4] and management of disastrous situations [5,6]
There are theoretically challenging issues involved in the control of differential drive robots and several interesting control problems have been studied for Differential drive robots (DDR)
Differential drive robot are a class of mobile robots that are widely studied by many researchers
Summary
Mobile robots are used for many applications [1] which range from service robotics [2] to mapping and surveillance applications [3], rescue robotics [4] and management of disastrous situations [5,6]. Simple mechanism of work of mobile robots makes them a popular class of robots for such applications. Differential drive robots (DDR) are a class of mobile robots with two active wheels on the sides of the robot. The difference in the angular velocities of the wheels determines direction of motion of robot. There are theoretically challenging issues involved in the control of differential drive robots and several interesting control problems have been studied for DDRs. Tracking control, path following and regulation of the posture of DDRs are the mostly studied control problems
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