Control Of Two-wheeled Mobile Robot Research Articles

Trajectory-tracking Control of Two-wheeled Mobile Robot with a Cascaded Time-scale Transformation

Trajectory-tracking Control of Two-wheeled Mobile Robot with a Cascaded Time-scale Transformation

Adaptive sliding mode attitude control of two-wheel mobile robot with an integrated learning-based RBFNN approach

Adaptive sliding mode attitude control of two-wheel mobile robot with an integrated learning-based RBFNN approach

Trajectory Tracking Control of Two-wheeled Mobile Robot Using Control Lyapunov Function

Trajectory Tracking Control of Two-wheeled Mobile Robot Using Control Lyapunov Function

A New Approach for Control of Two-wheeled Mobile Robot

In this paper, a study of the GBOT1001 two wheeled mobile robot is presented. Linearized dynamic equations are used to design a controller for the inherently unstable mobile robot. A Fuzzy controller is designed for the robot to direct the orientation of the chassis. Then linear quadratic regulator is also incorporated into the closed-loop system. The parameters of the LQR controller are computed first with the trial and error methods then, with the aid of the Genetic Algorithm. The resulting controller is referred to as the Fuzzy-TE-LQR and Fuzzy-GA-LQR controller respectively. The closed-loop responses for both controllers are obtained via computer simulations. Simulation results show that the Fuzzy-GA-LQR controller exhibits a less oscillatory closed-loop response that is achieved with a reasonable control effort.

Optimal control at energy performance index of the mobile robots following dynamically created trajectories

In practice, the problem of motion control of the wheeled mobile robots is often neglected. Wheeled mobile robots are strongly nonlinear systems and restricted by non-holonomic constraints. Motion control of such systems is not trivial task and usage of non-optimal control signals can lead to deterioration of the overall robot system's performance. In case of autonomous application of the mobile robots all parts of its control system should work perfectly. The paper presents the theory and application of the optimal control method at the energy performance index towards motion control of the two-wheeled mobile robot during the realisation of complex, dynamically created trajectories. With the use of the proposed control method the two-wheeled mobile robot can realise effectively the desired trajectory, which is generated ad-hoc by the navigation system of the robot. Thus the proposed method can be used for motion control of autonomous or semi-autonomous wheeled mobile robots. The presented results of both computer simulations and experiments indicate that the proposed method works effectively from the point of view of the motion control of two-wheeled mobile robot. Movement of the mobile robot appeared reliable and predictable during all the tests.

Control of Two-wheeled Mobile Robot via Homogeneous Semiconcave Control Lyapunov function

Abstract Semiconcave control Lyapunov functions for globally asymptotic stabilizing control-lable systems are available. However, a semiconcave control Lyapunov function for nonholonomic systems has not been proposed yet. For a two-wheeled mobile robot, we construct a homogeneous semiconcave control Lyapunov function and a control law with the function. The advantages of the proposed method are confirmed by computer simulation.

Study on control of two-wheeled mobile robot

Study on control of two-wheeled mobile robot