Wheeled Mobile Robot Control: Theory, Simulation, and Experimentation

By Nardênio Almeida Martins

1. Chapter 1 "Model development and control objectives"

1.1 Introduction

1.2 Development of the kinematic model with or without uncertainties and/or disturbances

1.3 Development of the dynamic model with or without uncertainties and/or disturbances

1.4 Trajectory tracking control problem

2. Chapter 2 "Classic control"

2.1 Introduction

2.2 Problem formulation

2.3 Control design

2.4 Simulations using Matlab and/or MobileSim simulator

2.5 Experimental results using PowerBot robot

2.6 Analysis and discussion of results

2.7 Final considerations

3. Chapter 3 "Robust control: first order sliding mode control technique"

3.1 Introduction

3.2 Problem formulation

3.3 Control design

3.4 Simulations using Matlab and/or MobileSim simulator

3.5 Experimental results using PowerBot robot

3.6 Analysis and discussion of results

3.7 Final considerations

4. Chapter 4 "Adaptive robust control: neural sliding mode control technique"

4.1 Introduction

4.2 Problem formulation

4.3 Control design

4.4 Simulations using Matlab and/or MobileSim simulator

4.5 Experimental results using PowerBot robot

4.6 Analysis and discussion of results

4.7 Final considerations

5. Chapter 5 "Adaptive robust control: adaptive fuzzy sliding mode control technique - Variant I"

5.1 Introduction

5.2 Problem formulation

5.3 Control design

5.4 Simulations using Matlab and/or MobileSim simulator

5.5 Experimental results using PowerBot robot

5.6 Analysis and discussion of results

5.7 Final considerations

6. Chapter 6 "Adaptive robust control: adaptive fuzzy sliding mode control technique - Variant II"

6.1 Introduction

6.2 Problem formulation

6.3 Control design

6.4 Simulations using Matlab and/or MobileSim simulator

6.5 Experimental results using PowerBot robot

6.6 Analysis and discussion of results

6.7 Final considerations

7. Chapter 8 "Vision-based control by digital image processing"

7.1 Introduction

7.2 Problem formulation

7.3 Control design

7.4 Simulations using Matlab

7.5 Experimental results using MiaBot Pro robot

7.6 Analysis and discussion of results

7.7 Final considerations

8. Chapter 7 "Robustness to kinematic and/or dynamic disturbances: integral sliding mode control technique"

8.1 Introduction

8.2 Problem formulation

8.3 Control design

8.4 Simulations using Matlab

8.5 Experimental results using MiaBot Pro robot

8.6 Analysis and discussion of results

8.7 Final considerations

9. Chapter 9 "Dynamic control considering ac

• Format: Paperback
• Language: English
• ISBN: 3030779149
• ISBN13: 9783030779146
• Release Date: August 2022
• Publisher: Springer
• Length: 209 Pages
• Weight: 0.73 lbs.
• Dimensions: 0.5" x 6.1" x 9.2"