Dynamics and control for Constrained Multibody Systems modeled with Maggi's equation: Application to Differential Mobile Robots Partll

27th International Conference on CADCAM, Robotics and Factories of the Future 2014

工业技术;机械制造

Amengonu, Yawo H.^1 ; Kakad, Yogendra P.^1

Electrical and Computer Engineering Department, University of North Carolina at Charlotte, Charlotte, NC 28223, United States^1

关键词: Constrained multibody systems;    Differential mobile robots;    Differential wheeled mobile robots;    Dynamic extension algorithm;    Dynamics and control;    Feedback linearization technique;    Non-linear controllers;    Trajectory tracking;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/65/1/012018/pdf
DOI  :  10.1088/1757-899X/65/1/012018

学科分类：工业工程学

来源: IOP

【 摘 要 】

Quasivelocity techniques were applied to derive the dynamics of a Differential Wheeled Mobile Robot (DWMR) in the companion paper. The present paper formulates a control system design for trajectory tracking of this class of robots. The method develops a feedback linearization technique for the nonlinear system using dynamic extension algorithm. The effectiveness of the nonlinear controller is illustrated with simulation example.