國立虎尾科技大學 |

Wheeled Mobile Robot Control = Theory, Simulation, and Experimentation /

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Wheeled Mobile Robot Control/ by Nardênio Almeida Martins, Douglas Wildgrube Bertol.
其他題名:	Theory, Simulation, and Experimentation /
作者:	Martins, Nardênio Almeida.
其他作者:	Bertol, Douglas Wildgrube.
面頁冊數:	XX, 209 p. 227 illus., 5 illus. in color.online resource. :
Contained By:	Springer Nature eBook
標題:	Civil Engineering. -
電子資源:	https://doi.org/10.1007/978-3-030-77912-2
ISBN:	9783030779122

Wheeled Mobile Robot Control = Theory, Simulation, and Experimentation /
Martins, Nardênio Almeida.

Wheeled Mobile Robot ControlTheory, Simulation, and Experimentation /[electronic resource] :by Nardênio Almeida Martins, Douglas Wildgrube Bertol. - 1st ed. 2022. - XX, 209 p. 227 illus., 5 illus. in color.online resource. - Studies in Systems, Decision and Control,3802198-4190 ;. - Studies in Systems, Decision and Control,27.

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.

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 simulation and visualization of results are made available with the book.

ISBN: 9783030779122

Standard No.: 10.1007/978-3-030-77912-2doiSubjects--Topical Terms:

669250
Civil Engineering.

LC Class. No.: TJ212-225

Dewey Class. No.: 629.8

Wheeled Mobile Robot Control = Theory, Simulation, and Experimentation /
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