Chwa, Dongkyoung (Ajou Univ.)

Robust Posture Stabilization of Wheeled Mobile Robots in Polar Coordinates

Scheduled for presentation during the Regular Session "Robotic Systems" (MoP07), Monday, July 24, 2006, 17:25−17:50, Room H

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper proposes a robust posture stabilization control method for wheeled mobile robots in polar coordinates. Previously, a posture stabilization problem of wheeled mobile robots is studied using kinematic time-invariant controllers based on the kinematic error model in polar coordinates, where the uncertainties of dynamics are not considered. To solve the robust posture stabilization, we introduce reference generation mode, reference tracking mode, and reference regulation mode. In reference generation mode, a kinematic time-invariant controller is used to generate the reference trajectory which starts from the initial posture of the actual robot to the desired posture. In reference tracking mode, a sliding mode position controller is employed in such a way that the actual robot can follow the reference trajectory in the desired forward or backward moving direction, even in the presence of the disturbances in the dynamics. In reference regulation mode, a sliding mode heading direction controller is used such that the actual robot can maintain the desired posture against the disturbances. In this way, robust posture stabilization can be achieved at almost all global regions. The stability analysis and simulation results are included to verify the proposed scheme.