Dissertation > Excellent graduate degree dissertation topics show

Study of Trajectory Tracking Control Methods on Nonholonomic Mobile Robot

Author: ChangCongCong
Tutor: JiZhiCheng
School: Jiangnan University
Course: Control Theory and Control Engineering
Keywords: wheeled mobile robots trajectory tracking finite time control differentially driven backstepping adaptive control
CLC: TP242
Type: Master's thesis
Year: 2007
Downloads: 230
Quote: 2
Read: Download Dissertation


Nonholonomic mobile robots are considered as the control object and control problems are studied focusing on trajectory tracking, which is an important issue on nonholonomic mobile robot motion control. Wheeled mobile robots come in a number of different mechanical structures. Typical robots have two co-axial wheels that independently or synchronously actuated to achieve forward/backward and rotational motion. The synchronous-drive type of mobile robots has wheels that can steer and rotate together so that the wheels can parallel all the time while the differential-driven robots is simplicity of its mechanical structure.For synchronous-drive robots, firstly the finite time control method is introduced and an algorithm by combining the neural dynamics model with finite time control for the trajectory tracking problem of a nonholonomic mobile robot. The finite time control method is easily designed and the resulting control law is continuous. It is improved by neural dynamics model which has stability, bounded and smoothly response character, can deal with the speed sharp jump on initial time. Then the integration of a kinemetic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented. Adaptive controls are derived for dynamics system of nonholonomic uncertain mobile robots tracking a reference trajectory using backstepping technique. The designed controller ensures the asymptotic zeroing of the stabilization error.For differential-driven robots, a speed controller is proposed. In addition to the independent control loop for each wheel, an angular speed compensator is included to enhance synchronization of the motions of the wheels. The controller is still designed around each wheel to keep the simple structure of independent control. Then a model-based adaptive control is presented for differential-driven robots. The controller takes into account of the coupling between the motions of the two wheels as well as the uncertainties of the system. It modifies the traditional adaptive control inputs, less computationally and keeps the motor moment outputs in a sound bound smoothly.

Related Dissertations

  1. Design and Research on Stabilization Loop of Gyro Stabilized Pod Control System,V241.5
  2. Robust Adaptive Control Algorithms Research for the System of Spacecraft Attitude Dynamics,V448.22
  3. Attitude Determination and Finite Time Control Algorithms for a Satellite,V448.222
  4. Optimal Synchronization Control of a Class of Underactuated Lagrangian Systems,TP13
  5. Adaptive Control of Post-Boost Vehicle Using Multiple Models,TP273.2
  6. Research on Input-To-State Stability of Discrete-Time Nonlinear Systems,TP13
  7. Study on Adaptive Fuzzy Control Algorithm and Its Implementation,TP273.4
  8. Research on Adaptive Control of Recovery of UUV with Near Wall Constraint,TP273
  9. Algorithm Research for Robot Trajectory Tracking Control,TP242
  10. Design Control Algorithm of A Dynamic Positioning System for the Large Trailing Suction Hopper Dredger,U674.31
  11. Research of Adaptive Active Noise Control Based on Neural Network,TP183
  12. Decentralized Tracking of Interconnected Systems with Dynamic Input and Output Interactions,O231
  13. The Modified Harmony Search Algorithm with Control Parameters Co-evolution and Its Application,TP391.3
  14. CNC gantry machining center maglev system control study,TP273
  15. Composite Rocker Ring Permanent Magnet Torque Motor Adaptive Robust Control,TM31
  16. Cricket fuzzy adaptive control system,TP273.4
  17. Robust and adaptive unmanned helicopter Tolerant Control Technology,V249.1
  18. Real-time feedback Adaptive Signal Control System,U491.54
  19. Study on the Control System’s Design Method of Helicopter-Borne Air-to-Ground Missile,TJ765.2
  20. Structure Design and Monitoring about Double Inclined Pylon Partial Cable-stayed Bridge Without Back-stays,U448.27
  21. Design of the Intelligent Spraying System Controller Based on DSP,S491

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile