[PDF] Top 20 Dynamic Compensation Based Control of a Comprehensive Model of Wheeled Mobile Robots

... of dynamic feedback linearization for stabilization of mobile ...unicycle model for control design, this paper uses a comprehensive model which is based on the physics of ... See full document

... two wheeled balancing robots are based on inverted pendulum configuration by designing code and implementing a self-balancing control algorithm using the PID ...proposed model ... See full document

... of Wheeled Mobile Robots, many researchers have focused on solving their ...motion control of such robots is an attractive problem and is one of the issues which should carefully be ... See full document

... of mobile robots which are linked by holonomic constraints, possibly vir- tual or real ones, for example in collaborative transporta- ...applying model based control, the controller is ... See full document

... kinematic model, real-time speed control and dynamic analysis have been examined for Four wheel Omni-directional mobile Robot and variable wheel arrangement mechanism (VWAM) has been analysed ... See full document

... two-wheeled mobile robot is improved ...and dynamic model of the robot. Modeling of the Wheeled mobile robot will certainly help to develop the ...mathematical model is ... See full document

... the model-based predictive control is not a new control method, works dealing with model-based predictive control and wheeled robots are few and ... See full document

... position control of four wheeled omni-directional mobile ...position control (not orientation control), the errors of x and y direction of the robot’s position are ...designed ... See full document

... is model-based [12, 14, 17, ...information-based control theories, as well as methodologies have emerged and attracted more and more attention in controlling the community and have acted as ... See full document

... are based on curve fitting techniques and can accurately capture the non-linear characteristics of traction forces, but most of these models lack physical interpretation and they cannot directly reflect the effect ... See full document

... two wheeled inverted pendulum (TWIP) mobile robot is a three-degrees-of-freedom under-actuated mechanical system with highly nonlinear ...various control algorithms ranging from conventional ... See full document

... algorithm based on a linear state space model was proposed to control mobile ...a dynamic model to design a controller for a ...a dynamic model was derived with ... See full document

... trajectory control of a tricycle robot using dynamic feedback linearization based on piecewise multi-linear (PML) ...models. Wheeled mobile robots are completely ...feedback ... See full document

... different mobile robots from different ...drive mobile robot with two different odometry error sources shows the effect of errors in robot motion ... See full document

... of mobile robots working in a cooperative fashion can be of great ...formation control framework is necessary in order to coordinate the motions of the robots in the ...formation ... See full document

... local reactive approach used to avoid collisions with static and/or dynamic obstacles based on the “sensing vector” and the “gap vector”. The use of the “gap vector” enables the robot to plan its path in a ... See full document

... Ultrasonic sensing depends on the reflective surface or object’s density, which affects its ability to reflect sound. Providing an object is dense enough to return the sound signal, ultrasonic sensors can tell whether ... See full document

... Shape Control Remaining simulations are dedicated to shape control ...tracking control simulation in section ...shape control system forms the beam to the desire shape with little deviation ... See full document

... It can be seen from Figure 4 that the system transmission line current after compensation basically reaches the requirement of the sine wave. It can be seen from Figure 6, the system as a sinusoidal voltage when ... See full document

... the mobile robot [33], which are due to uneven floors or mobile-robot construction ...in mobile robots is therefore handled by applying kinematic models to each tracked object (implicit ... See full document