Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

Trajectory Tracking Control for Nonholonomic Mobile Manipulators

In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed...

Decentralized Fuzzy Control of Multiple Nonholonomic Vehicles

This work considers the problem of controlling multiple nonholonomic vehicles so that they converge to a scent source without colliding with each other. Since the control is to be implemented on simple &bit microcontrollers, fuzzy control rules are used to simplify a linear quadratic regulator control design. The inputs to the fuzzy controllers for each vehicle q e the (noisy) direction to the ...

Motion coordination and control in systems of nonholonomic autonomous vehicles

robust sliding mode controller for trajectory tracking and attitude control of a nonholonomic spherical mobile robot

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...