國立高雄大學圖資館 |

Language: English

Back

Wheeled mobile robot controltheory, simulation, and experimentation /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Wheeled mobile robot controlby Nardenio Almeida Martins, Douglas Wildgrube Bertol.
Reminder of title:	theory, simulation, and experimentation /
Author:	Martins, Nardenio Almeida.
other author:	Bertol, Douglas Wildgrube.
Published:	Cham :Springer International Publishing :2022.
Description:	xx, 209 p. :ill., digital ;24 cm.
Contained By:	Springer Nature eBook
Subject:	Mobile robotsControl.
Online resource:	https://doi.org/10.1007/978-3-030-77912-2
ISBN:	9783030779122$q(electronic bk.)

Wheeled mobile robot controltheory, simulation, and experimentation /
Martins, Nardenio Almeida.

Wheeled mobile robot controltheory, simulation, and experimentation /[electronic resource] :by Nardenio Almeida Martins, Douglas Wildgrube Bertol. - Cham :Springer International Publishing :2022. - xx, 209 p. :ill., digital ;24 cm. - Studies in systems, decision and control,v. 3802198-4190 ;. - Studies in systems, decision and control ;v.3..

Background on DWMR System Modeling -- Background on Control Problems and Systems -- Background on Simulation and Experimentation Environments -- Backstepping control -- Robust control: ﬁrst-order sliding mode control techniques -- Approximated robust control: ﬁrst-order quasi-sliding mode control techniques -- Adaptive robust control: adaptive fuzzy sliding mode control technique -- Adaptive robust control: adaptive neural sliding mode control technique -- Formation Control of DWMRs: sliding mode control techniques.

This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov's stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.

ISBN: 9783030779122$q(electronic bk.)

Standard No.: 10.1007/978-3-030-77912-2doiSubjects--Topical Terms:

874260
Mobile robots
--Control.

LC Class. No.: TJ211.415 / .M37 2022

Dewey Class. No.: 629.8932

Wheeled mobile robot controltheory, simulation, and experimentation /
LDR:02930nmm a2200337 a 4500 001 618113
003 DE-He213
005 20210812054547.0
006 m d
007 cr nn 008maaau
008 221025s2022 sz s 0 eng d
020 $a 9783030779122$q(electronic bk.)
020 $a 9783030779115$q(paper)
024 7 $a 10.1007/978-3-030-77912-2 $2 doi
035 $a 978-3-030-77912-2
040 $a GP $c GP
041 0 $a eng
050 4 $a TJ211.415 $b .M37 2022
072 7 $a TJFM1 $2 bicssc
072 7 $a TEC037000 $2 bisacsh
072 7 $a TJFM1 $2 thema
082 0 4 $a 629.8932 $2 23
090 $a TJ211.415 $b .M386 2022
100 1 $a Martins, Nardenio Almeida. $3 917727
245 1 0 $a Wheeled mobile robot control $h [electronic resource] : $b theory, simulation, and experimentation / $c by Nardenio Almeida Martins, Douglas Wildgrube Bertol.
260 $a Cham : $b Springer International Publishing : $b Imprint: Springer, $c 2022.
300 $a xx, 209 p. : $b ill., digital ; $c 24 cm.
490 1 $a Studies in systems, decision and control, $x 2198-4190 ; $v v. 380
505 0 $a Background on DWMR System Modeling -- Background on Control Problems and Systems -- Background on Simulation and Experimentation Environments -- Backstepping control -- Robust control: ﬁrst-order sliding mode control techniques -- Approximated robust control: ﬁrst-order quasi-sliding mode control techniques -- Adaptive robust control: adaptive fuzzy sliding mode control technique -- Adaptive robust control: adaptive neural sliding mode control technique -- Formation Control of DWMRs: sliding mode control techniques.
520 $a This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov's stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
650 0 $a Mobile robots $x Control. $3 874260
650 1 4 $a Robotics and Automation. $3 357111
650 2 4 $a Artificial Intelligence. $3 212515
650 2 4 $a Vibration, Dynamical Systems, Control. $3 274667
700 1 $a Bertol, Douglas Wildgrube. $3 917728
710 2 $a SpringerLink (Online service) $3 273601
773 0 $t Springer Nature eBook
830 0 $a Studies in systems, decision and control ; $v v.3. $3 678532
856 4 0 $u https://doi.org/10.1007/978-3-030-77912-2
950 $a Intelligent Technologies and Robotics (SpringerNature-42732)