Solving Tracking And Regulation Of A Mobile Robot
This project is to develop a stable controller that can solve both tracking and regulation of a mobile robot by using kinematics mathematical model. For tracking trajectory the linear and angular velocities are not converging to zero and maintain at constant speed, while for regulation trajectory...
Saved in:
| Main Author: | |
|---|---|
| Format: | Monograph |
| Published: |
UTeM
2009
|
| Subjects: | |
| Online Access: | http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054805 http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054805 http://eprints.utem.edu.my/3718/1/Solving_Tracking_And_Regulation_Of_A_Mobile_Robot_Mohd_Fekri_Bin_Ab_HalimTJ211.415.M47_2009_24.pdf http://eprints.utem.edu.my/3718/2/Solving_Tracking_And_Regulation_Of_A_Mobile_Robot_Mohd_Fekri_Bin_Ab_HalimTJ211.415.M47_2009_FULL_TEXT.pdf |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | This project is to develop a stable controller that can solve both tracking and
regulation of a mobile robot by using kinematics mathematical model. For tracking
trajectory the linear and angular velocities are not converging to zero and maintain at
constant speed, while for regulation trajectory linear and angular velocities are
converging to zero. To solve this problem a single controller will be developed to solve
both trajectory problems. This project starts by studying on tracking and regulation
problem, then proceed by deriving the mathematical model for the controller. This
project continues by transforming the mathematical model into MA TLAB/SIMULINK
to become a controller. Then start simulated and compare with the actual result with
desired output response. The tracking control problem with saturation constraint for a
class of unicycle-modeled mobile robots is formulated and solved using the backstepping
technique. With the proposed control laws, the robot can globally follow any
path specified by a straight line, a circle or a path approaching the origin using a single
controller. As demonstrated, the circular and parallel parking control problem is solved
usmg the proposed controller. Computer simulations are presented usmg
MA TLAB/SIMULINK. |
|---|