Abstract: This paper presents a tracking control strategy based on Lyapunov approach for nonholonomic wheeled mobile robot. This control strategy consists of two levels. First, a kinematic controller is developed to adjust the right and left wheel velocities. Using this velocity control law, the stability of the tracking error is guaranteed using Lyapunov approach. This kinematic controller cannot be generated directly by the motors. To overcome this problem, the second level of the controllers, dynamic control, is designed. This dynamic control law is developed based on Lyapunov theory in order to track the desired trajectories of the mobile robot. The stability of the tracking error is proved using Lupunov and Barbalat approaches. Simulation results on a nonholonomic wheeled mobile robot are given to demonstrate the feasibility and effectiveness of the presented approach.
Abstract: In this paper we propose a discrete tracking control of
nonholonomic mobile robots with two degrees of freedom. The
electromechanical model of a mobile robot moving on a horizontal
surface without slipping, with two rear wheels controlled by two
independent DC electric, and one front roal wheel is considered. We
present backstepping design based on the Euler approximate discretetime
model of a continuous-time plant. Theoretical considerations are
verified by numerical simulation.
Abstract: This paper presents the hardware implemented and
validation for a special system to assist the unprofessional users of
car with back trailers. The system consists of two platforms; the front
car platform (C) and the trailer platform (T). The main objective is to
control the Trailer platform using the actuators found in the front
platform (c). The mobility of the platform (C) is investigated and
inverse and forward kinematics model is obtained for both platforms
(C) and (T).The system is simulated using Matlab M-file and the
simulation examples results illustrated the system performance. The
system is constructed with a hardware setup for the front and trailer
platform. The hardware experimental results and the simulated
examples outputs showed the validation of the hardware setup.