Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure wiling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamic...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2010
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| Online Access: | http://irep.iium.edu.my/12827/ http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf |
| _version_ | 1848777482199629824 |
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| author | Yu, Tian Sidek, Shahrul Na'im Sarkar , Nilanjan |
| author_facet | Yu, Tian Sidek, Shahrul Na'im Sarkar , Nilanjan |
| author_sort | Yu, Tian |
| building | IIUM Repository |
| collection | Online Access |
| description | In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure wiling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system with second order nonholonomic constraints. Position tracking control law is developed to asymptotically stabilize the system while it is converging to the desired trajectory, if the traction is not saturated. Simulation results are provided to validate the theoretical results. |
| first_indexed | 2025-11-14T14:46:41Z |
| format | Proceeding Paper |
| id | iium-12827 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:46:41Z |
| publishDate | 2010 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-128272019-01-10T05:09:56Z http://irep.iium.edu.my/12827/ Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics Yu, Tian Sidek, Shahrul Na'im Sarkar , Nilanjan TL Motor vehicles. Aeronautics. Astronautics In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure wiling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system with second order nonholonomic constraints. Position tracking control law is developed to asymptotically stabilize the system while it is converging to the desired trajectory, if the traction is not saturated. Simulation results are provided to validate the theoretical results. 2010 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf Yu, Tian and Sidek, Shahrul Na'im and Sarkar , Nilanjan (2010) Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics. In: Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, 12-14 October 2009, Hollywood. |
| spellingShingle | TL Motor vehicles. Aeronautics. Astronautics Yu, Tian Sidek, Shahrul Na'im Sarkar , Nilanjan Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics |
| title | Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics |
| title_full | Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics |
| title_fullStr | Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics |
| title_full_unstemmed | Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics |
| title_short | Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics |
| title_sort | tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics |
| topic | TL Motor vehicles. Aeronautics. Astronautics |
| url | http://irep.iium.edu.my/12827/ http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf |