Dynamic Compensation Based Control of a Comprehensive Model of Wheeled Mobile Robots

摘要

This paper uses the general framework of dynamic feedback linearization for stabilization of mobile robots. Instead of using unicycle model for control design, this paper uses a comprehensive model which is based on the physics of differential drive robots. The model used in the paper describes nonholonomic underactuated behavior of robot in terms of the physical dimensions and velocities of the wheels. Next, the proposed control is applied to this model and it is theoretically proven that dynamic feedback linearization can successfully solve the stabilization problem. To evaluate the performance of proposed control, another controller is designed based on the Lyapunov's method. The performance of the two controllers and the complexity of control gain tuning process are compared. Next, the robustness of the proposed control against uncertainties is studied. The results of analysis and simulations show that the proposed control has very good performance against parametric uncertainties.