Volume 7, Issue 2 (Journal of Control, V.7, N.2 Summer 2013)
JoC 2013, 7(2): 1-10 |
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Keymasi A, Moosavian S A A. Non-Model-Based Control Law for a Wheeled Robot Towing a Trailer. JoC 2013; 7 (2) :1-10
URL: http://joc.kntu.ac.ir/article-1-108-en.html
URL: http://joc.kntu.ac.ir/article-1-108-en.html
Abstract: (11897 Views)
Tractor-trailer wheeled robot (TTWR) is a modular robotic system that consists of a tractor module towing a trailer. Trajectory tracking is one of the challenging problems focused in the context of wheeled mobile robots (WMRs) that has been discussed in this paper. First, kinematic equations of TTWR are obtained. Then, reference trajectories for tracking problem are produced. Subsequently, a non-model-based control based on Modified Transpose Jacobian (MTJ) method is designed for the TTWR. The proposed controller steer the TTWR asymptotically follow reference trajectories. Finally, experimental results for implementation of the designed controller on an experimental setup in comparison with model-based algorithm are presented. Obtained results show the effectiveness of the proposed controller
Keywords: Wheeled mobile robot, Nonholonomic systems, Trajectory Tracking, Modified Transpose Jacobian
Type of Article: Research paper |
Subject:
Special
Received: 2014/06/20 | Accepted: 2014/06/20 | Published: 2014/06/20
Received: 2014/06/20 | Accepted: 2014/06/20 | Published: 2014/06/20
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