Displaying similar documents to “Modeling and control of a 4-wheel skid-steering mobile robot”

Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

Maciej Michałek, Piotr Dutkiewicz, Marcin Kiełczewski, Dariusz Pazderski (2009)

International Journal of Applied Mathematics and Computer Science

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The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip...

Two observer-based tracking algorithms for a unicycle mobile robot

Janusz Jakubiak, Erjen Lefeber, Krzysztof Tchoń, Henk Nijmeijer (2002)

International Journal of Applied Mathematics and Computer Science

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A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.

On harmonic disturbance rejection of an undamped Euler-Bernoulli beam with rigid tip body

Bao-Zhu Guo, Qiong Zhang (2004)

ESAIM: Control, Optimisation and Calculus of Variations

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A hybrid flexible beam equation with harmonic disturbance at the end where a rigid tip body is attached is considered. A simple motor torque feedback control is designed for which only the measured time-dependent angle of rotation and its velocity are utilized. It is shown that this control can impel the amplitude of the attached rigid tip body tending to zero as time goes to infinity.

The problems of collision avoidance at sea in the formulation of complex motion principles

Bogdan Żak (2004)

International Journal of Applied Mathematics and Computer Science

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The paper presents a mathematical model of a collision situation for objects afloat based on the rules of a multiple complex motion. It also contains an analysis of the presented model and draws some conclusions from it. The method used to determine the minimum-time control of ships in a situation of colliding with other objects afloat is presented for a mathematical model of a collision situation. It also includes the results of a simulation study conducted by means of this method....

Modeling and control of induction motors

Emmanuel Delaleau, Jean-Paul Louis, Romeo Ortega (2001)

International Journal of Applied Mathematics and Computer Science

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This paper is devoted to the modeling and control of the induction motor. The well-established field oriented control is recalled and two recent control strategies are exposed, namely the passivity-based control and the flatness-based control.

Modelling and control of an omnidirectional mobile manipulator

Salima Djebrani, Abderraouf Benali, Foudil Abdessemed (2012)

International Journal of Applied Mathematics and Computer Science

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A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic...

A nonlinear dynamic inversion-based neurocontroller for unmanned combat aerial vehicles during aerial refuelling

Jimoh Olarewaju Pedro, Aarti Panday, Laurent Dala (2013)

International Journal of Applied Mathematics and Computer Science

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The paper presents the development of modelling and control strategies for a six-degree-of-freedom, unmanned combat aerial vehicle with the inclusion of the centre of gravity position travel during the straight-leg part of an in-flight refuelling manoeuvre. The centre of gravity position travel is found to have a parabolic variation with an increasing mass of aircraft. A nonlinear dynamic inversion-based neurocontroller is designed for the process under investigation. Three radial basis...