A distributed robust controller for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering capability without additional hardware. In this research, a distributed nonlinear damping controller using backstepping techniques for wheel-torque control is first developed for single-axle unicycle type robots. The controller is then extended to multiple-axle CFMMR configurations and is robust to disturbances created by modeling errors; especially highly nonlinear frame forces caused by axle interaction. In particular, the controller considers time-varying reference velocities and allows the robot to perform posture regulation, path following, or general trajectory tracking. A two-axle scout CFMMR configuration is used to evaluate the controller. Simulation and experimental results verify robust dynamic motion control of path following.
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e-mail: minor@mech.utah.edu
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September 2006
Technical Papers
Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots
Xiaorui Zhu,
Xiaorui Zhu
ASME Student Member
Department of Mechanical Engineering,
University of Utah
, Salt Lake City, Utah 84112
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Mark A. Minor,
Mark A. Minor
ASME Member
Department of Mechanical Engineering,
e-mail: minor@mech.utah.edu
University of Utah
, Salt Lake City, Utah 84112
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Sungyong Park
Sungyong Park
Department of Mechanical Engineering,
University of Utah
, Salt Lake City, Utah 84112
Search for other works by this author on:
Xiaorui Zhu
ASME Student Member
Department of Mechanical Engineering,
University of Utah
, Salt Lake City, Utah 84112
Mark A. Minor
ASME Member
Department of Mechanical Engineering,
University of Utah
, Salt Lake City, Utah 84112e-mail: minor@mech.utah.edu
Sungyong Park
Department of Mechanical Engineering,
University of Utah
, Salt Lake City, Utah 84112J. Dyn. Sys., Meas., Control. Sep 2006, 128(3): 489-498 (10 pages)
Published Online: January 13, 2006
Article history
Received:
December 14, 2004
Revised:
January 13, 2006
Citation
Zhu, X., Minor, M. A., and Park, S. (January 13, 2006). "Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots." ASME. J. Dyn. Sys., Meas., Control. September 2006; 128(3): 489–498. https://doi.org/10.1115/1.2229254
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