Active force control of an nonholonomic wheeled mobile robot

A method to improve the stability and robustness of a nonholonomic wheeled mobile robot (WMR) using an Active Force Control (AFC) method was presented through a simulation and experimental study. The AFC strategy is a robust approach to the control of dynamical systems that involves approximating th...

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Main Author:	Purnomo, Didik Setyo
Format:	Thesis
Published:	2004
Subjects:	TJ Mechanical engineering and machinery
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id	my-utm-ep.42304
record_format	uketd_dc
spelling	my-utm-ep.423042020-08-26T04:07:22Z Active force control of an nonholonomic wheeled mobile robot 2004 Purnomo, Didik Setyo TJ Mechanical engineering and machinery A method to improve the stability and robustness of a nonholonomic wheeled mobile robot (WMR) using an Active Force Control (AFC) method was presented through a simulation and experimental study. The AFC strategy is a robust approach to the control of dynamical systems that involves approximating the estimated inertia matrix of the physical system necessary to compensate internal and external disturbances. The advantage is its ability to compensate disturbances effectively and reliably without heavy mathematical computation. The objective of the study is the implementation of AFC to accomplish a trajectory tracking control of a mobile robot, particularly when the robot operates in parametric changes and varied operating conditions. The proposed AFC schemes were integrated into the conventional (linear and angular velocities) outer loop controller. An intelligent method to estimate the system inertia matrix using fuzzy logic (FL) was also investigated and later implemented in the AFC inner loop (simulation study). 2004 Thesis http://eprints.utm.my/id/eprint/42304/ http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:94426 masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Purnomo, Didik Setyo Active force control of an nonholonomic wheeled mobile robot
description	A method to improve the stability and robustness of a nonholonomic wheeled mobile robot (WMR) using an Active Force Control (AFC) method was presented through a simulation and experimental study. The AFC strategy is a robust approach to the control of dynamical systems that involves approximating the estimated inertia matrix of the physical system necessary to compensate internal and external disturbances. The advantage is its ability to compensate disturbances effectively and reliably without heavy mathematical computation. The objective of the study is the implementation of AFC to accomplish a trajectory tracking control of a mobile robot, particularly when the robot operates in parametric changes and varied operating conditions. The proposed AFC schemes were integrated into the conventional (linear and angular velocities) outer loop controller. An intelligent method to estimate the system inertia matrix using fuzzy logic (FL) was also investigated and later implemented in the AFC inner loop (simulation study).
format	Thesis
qualification_level	Master's degree
author	Purnomo, Didik Setyo
author_facet	Purnomo, Didik Setyo
author_sort	Purnomo, Didik Setyo
title	Active force control of an nonholonomic wheeled mobile robot
title_short	Active force control of an nonholonomic wheeled mobile robot
title_full	Active force control of an nonholonomic wheeled mobile robot
title_fullStr	Active force control of an nonholonomic wheeled mobile robot
title_full_unstemmed	Active force control of an nonholonomic wheeled mobile robot
title_sort	active force control of an nonholonomic wheeled mobile robot
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Mechanical Engineering
publishDate	2004
_version_	1747816737600962560

Active force control of an nonholonomic wheeled mobile robot

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