Dynamic modeling and control of nonholonomic mobile robot with lateral slip

QR Code

Dynamic modeling and control of nonholonomic mobile robot with lateral slip

Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic mode...

Full description

Bibliographic Details
Main Authors:	Sidek, Shahrul Na'im, Sarkar, Nilanjan
Format:	Proceeding Paper
Language:	English
Published:	2008
Subjects:	TA168 Systems engineering
Online Access:	http://irep.iium.edu.my/22604/ http://irep.iium.edu.my/22604/1/ICONS_WMR_with_lateral_slip.pdf

Similar Items

Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics
by: Tian, Yu, et al.
Published: (2009)

Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance
by: Sidek, Shahrul Na'im, et al.
Published: (2008)

Dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip
by: Sidek, Shahrul Na'im, et al.
Published: (2009)

Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
by: Yu, Tian, et al.
Published: (2010)

Improving maneuverability of wheeled mobile robots by exploiting lateral slip
by: Sidek, Shahrul Na'im, et al.
Published: (2007)

Dynamic modeling and verification of unicycle mobile robot system
by: Abdul Rashid, Mohd Zamzuri, et al.
Published: (2011)

Controller design of unicycle mobile robot
by: Ab Rashid, Mohd Zamzuri, et al.
Published: (2012)

Affective-model based high level controller for human-robot applications
by: Sidek, Shahrul Na'im, et al.
Published: (2012)

A hybrid controller with Chedoke-McMaster stroke assessment for robot-assisted rehabilitation
by: Sidek, Shahrul Na'im, et al.
Published: (2012)

Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller
by: Salami, Momoh Jimoh Emiyoka, et al.
Published: (2000)

Intelligent trajectory conversion and inverse dynamic control of a 3-DOF neuro-rehabilitation platform
by: Sado, Fatai, et al.
Published: (2015)

A high-level controller for robot-assisted rehabilitation based on Chedoke-McMaster Stroke Assessment
by: Shamsudin, Abu Ubaidah, et al.
Published: (2012)

Development of wheel-less snake robot with two distinct gaits and gait transition capability
by: Majid, MHA, et al.
Published: (2013)

Exploiting wheel slips of mobile robots to improve navigation performance
by: Sidek, Shahrul Naim, et al.
Published: (2013)

Design and implementation of DSP-based intelligent controller for automobile braking system
by: Sidek, Shahrul Na'im, et al.
Published: (2001)

Parameter estimation of multicomponent transient signals using deconvolution and ARMA modelling techniques
by: Salami, Momoh Jimoh Emiyoka, et al.
Published: (2003)

Performance evaluation of the deconvolution techniques used in analyzing multicomponent transient signals
by: Salami, Momoh Jimoh Emiyoka, et al.
Published: (2000)

Surface Electromyography (sEMG)-based thumb-tip angle and force estimation using artificial neural network for prosthetic thumb
by: Sidek, Shahrul Na'im, et al.
Published: (2012)

Analysis of engagement factor in trajectory tracking-based experiment
by: Ismail, Elliana, et al.
Published: (2012)

Electromyography (EMG)-based thump-tip force estimation for prosthetic thumb
by: Jalaludin, Nor Anija, et al.
Published: (2012)

Modelling and control of a nonholonomic mobile robot
by: Baharuddin, Mohd. Zafri
Published: (2008)

The performance analysis of PID controller for rehabilitation by using dynamic model
by: Roy, Rupal, et al.
Published: (2020)

Educational features of Malaysian robot contest
by: Shafie, Amir Akramin, et al.
Published: (2004)

Motion Control for Nonholonomic Wheeled Mobile Robots with Obstacle Avoidance
by: Tran, Luc Quan
Published: (2019)

Backstepping control of nonholonomic car-like mobile robot in chained form
by: Zainah, Md. Zain, et al.
Published: (2018)

Robust intelligent active force control of nonholonomic wheeled mobile robot
by: Tang, H. H., et al.
Published: (2006)

Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout
by: Tang, Howe Hing, et al.
Published: (2006)

Integrating actuator fault and wheel slippage detections within FDI framework
by: Sidek, Shahrul Na'im, et al.
Published: (2007)

Pembangunan perisian pembelajaran mobile CRTV.cn untuk kursus diagnous dan senggaraan audio video
by: Subramaniam, Tamil Selvan, et al.
Published: (2018)

Car wash wastewater treatment using kapok fiber as adsorbent
by: Ibrahim, Muhammad Shahrul Shafendy
Published: (2022)

Optimal particle ratio to maximize the dynamic range of Magnetorheological Fluid (MRF) damper for prosthetic limb
by: Nordin, Norhidayati Diana, et al.
Published: (2015)

The nonlinear limit control of EDSQOs on finite dimensional simplex
by: Abdulghafor, Rawad, et al.
Published: (2019)

A review of concurrency control technique in distributed database
by: Kasim, Shahreen, et al.
Published: (2018)

Real time implementation of NARMA-L2 control of a Single Link Manipulator
by: Mokri, S, et al.
Published: (2008)

Active vibration control using piezoelectric actuator: implementation of ant colony optimization technique in virtual experimentation
by: Md Nor, Khairul Affendy, et al.
Published: (2014)

Artificial neural network model for predicting wet scrubber performance
by: Danzomo, Bashir Ahmed, et al.
Published: (2012)

A piezoelectric based energy harvester with magnetic interactions: modelling and simulation
by: Ibrahim , Dauda Sh., et al.
Published: (2015)

Consensus by High Gegree of DeGroot model for multi-agent systems
by: Rawad, Abdulghafor, et al.
Published: (2020)

Human capital business partner information technology and network technology manpower model
by: A. Halim, Siti Sarah, et al.
Published: (2011)

Development Of Rain And Scintillation Models At Ku-Sand In Southeast Asia Tropical Countries
by: Jit Singh, Mandeep Singh
Published: (2006)