| 书目名称 | Wheeled Mobile Robot Control | | 副标题 | Theory, Simulation, | | 编辑 | Nardênio Almeida Martins,Douglas Wildgrube Bertol | | 视频video | | | 概述 | Addresses theoretical, scientific, and practical aspects of differential-drive wheeled nonholonomic mobile robots.Provides mathematical modeling of the kinematics and dynamics of differential-drive wh | | 丛书名称 | Studies in Systems, Decision and Control | | 图书封面 |  | | 描述 | 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 sim | | 出版日期 | Book 2022 | | 关键词 | mobile robots; dynamic models; Trajectory tracking; Kinematic control; Sliding mode control; Dynamic cont | | 版次 | 1 | | doi | https://doi.org/10.1007/978-3-030-77912-2 | | isbn_softcover | 978-3-030-77914-6 | | isbn_ebook | 978-3-030-77912-2Series ISSN 2198-4182 Series E-ISSN 2198-4190 | | issn_series | 2198-4182 | | copyright | Springer Nature Switzerland AG 2022 |
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发表于 2025-3-21 18:35:41
