Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: Curvilinear coordinates approach (Part II)

作     者：Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. 

作者机构：Robotics Laboratory Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federacao Salvador Bahia40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Campina Grande Paraíba58429-970 Brazil 

出 版 物：《IFAC-PapersOnLine》 

年 卷 期：2015年第48卷第19期

页      面：100-105页

核心收录：

主　　题：Perturbation techniques Kinematics Mobile robots Skidding Auxiliary control Curvilinear coordinate Kinematic constraints Singular perturbation method Singular perturbations methods Singularly perturbed slipping variation Wheeled mobile robot 

摘      要：In work reported here, it is proposed a method to reduce the effects of slipping and skidding in WMRs not exactly satisfying kinematic constraints. It is studied the case for WMRs whose kinematic constraints are violated owing to deformability or flexibility. To this end, it is considered the static-state linearization whose robustness will be based on singular perturbation methods and an auxiliary control law that is modeled on a suitable transformation for curvilinear coordinates. In results will be seen that the tracking error converges to small ball of the origin whose radius can be adjusted by a known function that depends on the slipping and skidding variations. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.