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Wheeled Mobile Robot Control Theory, Simulation, and Experimentation

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 design...

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Bibliographic Details
Main Authors: Martins, Nardênio Almeida, Bertol, Douglas Wildgrube (Author)
Format: eBook
Language:English
Published: Cham Springer International Publishing 2022, 2022
Edition:1st ed. 2022
Series:Studies in Systems, Decision and Control
Subjects:
Control, Robotics, Automation
Artificial Intelligence
Control Engineering
Civil Engineering
Robotics
Automation
Online Access:
Collection: Springer eBooks 2005- - Collection details see MPG.ReNa
Table of Contents:
  • Background on DWMR System Modeling
  • Background on Control Problems and Systems
  • Background on Simulation and Experimentation Environments
  • Backstepping control
  • Robust control: first-order sliding mode control techniques
  • Approximated robust control: first-order quasi-sliding mode control techniques
  • Adaptive robust control: adaptive fuzzy sliding mode control technique
  • Adaptive robust control: adaptive neural sliding mode control technique
  • Formation Control of DWMRs: sliding mode control techniques

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