Displaying similar documents to “Modelling and control of an omnidirectional mobile manipulator”

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...

On path following control of nonholonomic mobile manipulators

Alicja Mazur, Dawid Szakiel (2009)

International Journal of Applied Mathematics and Computer Science

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This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of...

Modeling and control of a 4-wheel skid-steering mobile robot

Krzysztof Kozłowski, Dariusz Pazderski (2004)

International Journal of Applied Mathematics and Computer Science

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A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm,...

Nonlinear controller design of a ship autopilot

Mirosław Tomera (2010)

International Journal of Applied Mathematics and Computer Science

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The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function...

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.

Circle criterion and boundary control systems in factor form: input-output approach

Piotr Grabowski, Frank Callier (2001)

International Journal of Applied Mathematics and Computer Science

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A circle criterion is obtained for a SISO Lur’e feedback control system consist- ing of a nonlinear static sector-type controller and a linear boundary control system in factor form on an infinite-dimensional Hilbert state space H previ- ously introduced by the authors (Grabowski and Callier, 1999). It is assumed for the latter that (a) the observation functional is infinite-time admissible, (b) the factor control vector satisfies a compatibility condition, and (c) the trans- fer function...