Modeling and control of a 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 rolling 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: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/1/CICA2009_WMR_modeling_and_control.pdf |
| _version_ | 1848779031115202560 |
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| author | Tian, Yu Sidek, Shahrul Na'im Sarkar, Nilanjan |
| author_facet | Tian, Yu Sidek, Shahrul Na'im Sarkar, Nilanjan |
| author_sort | Tian, Yu |
| 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 rolling 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. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results. |
| first_indexed | 2025-11-14T15:11:18Z |
| format | Proceeding Paper |
| id | iium-22600 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:11:18Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-226002019-01-10T05:10:13Z http://irep.iium.edu.my/22600/ Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics Tian, Yu Sidek, Shahrul Na'im Sarkar, Nilanjan TA168 Systems engineering 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 rolling 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. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results. 2009 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/22600/1/CICA2009_WMR_modeling_and_control.pdf Tian, Yu and Sidek, Shahrul Na'im and Sarkar, Nilanjan (2009) Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics. In: IEEE Symposium on Computational Intelligence in Control and Automation (CICA 2009), 30 Mar - 2 Apr 2009, Nashville, Tennessee, USA. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4982776&tag=1 |
| spellingShingle | TA168 Systems engineering Tian, Yu Sidek, Shahrul Na'im Sarkar, Nilanjan Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics |
| title | Modeling and control of a nonholonomic wheeled mobile robot
with wheel slip dynamics |
| title_full | Modeling and control of a nonholonomic wheeled mobile robot
with wheel slip dynamics |
| title_fullStr | Modeling and control of a nonholonomic wheeled mobile robot
with wheel slip dynamics |
| title_full_unstemmed | Modeling and control of a nonholonomic wheeled mobile robot
with wheel slip dynamics |
| title_short | Modeling and control of a nonholonomic wheeled mobile robot
with wheel slip dynamics |
| title_sort | modeling and control of a nonholonomic wheeled mobile robot
with wheel slip dynamics |
| topic | TA168 Systems engineering |
| url | http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/1/CICA2009_WMR_modeling_and_control.pdf |