Control of a non-holonomic mobile robot

Non-holonomic system is a mechanical system that is subject to non-holonomic constraints. They are the constraints on the velocity of the system which can not be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical...

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Main Author:	Sulaiman, Noor Asyikin
Format:	Thesis
Language:	English
Published:	2007
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/4443/1/NoorAsyikinSulaimanMFKE2007.pdf
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id	my-utm-ep.4443
record_format	uketd_dc
spelling	my-utm-ep.44432018-01-28T07:27:42Z Control of a non-holonomic mobile robot 2007-05 Sulaiman, Noor Asyikin TK Electrical engineering. Electronics Nuclear engineering Non-holonomic system is a mechanical system that is subject to non-holonomic constraints. They are the constraints on the velocity of the system which can not be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical example of non-holonomic systems. In this project, the application of two different types of kinematics controller are examined and analysed. Both of the controllers are using Lyapunov method which is the simplest and successful method in kinematics stabilization. The first controller guarantees to be global asymptotically stable tracking control and the second controller guarantees to be asymptotically stable tracking control. Both controllers are able to control a non-holonomic mobile robot to track the desired trajectory. All simulations are performed using SIMULINK/MATLAB. 2007-05 Thesis http://eprints.utm.my/id/eprint/4443/ http://eprints.utm.my/id/eprint/4443/1/NoorAsyikinSulaimanMFKE2007.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Sulaiman, Noor Asyikin Control of a non-holonomic mobile robot
description	Non-holonomic system is a mechanical system that is subject to non-holonomic constraints. They are the constraints on the velocity of the system which can not be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical example of non-holonomic systems. In this project, the application of two different types of kinematics controller are examined and analysed. Both of the controllers are using Lyapunov method which is the simplest and successful method in kinematics stabilization. The first controller guarantees to be global asymptotically stable tracking control and the second controller guarantees to be asymptotically stable tracking control. Both controllers are able to control a non-holonomic mobile robot to track the desired trajectory. All simulations are performed using SIMULINK/MATLAB.
format	Thesis
qualification_level	Master's degree
author	Sulaiman, Noor Asyikin
author_facet	Sulaiman, Noor Asyikin
author_sort	Sulaiman, Noor Asyikin
title	Control of a non-holonomic mobile robot
title_short	Control of a non-holonomic mobile robot
title_full	Control of a non-holonomic mobile robot
title_fullStr	Control of a non-holonomic mobile robot
title_full_unstemmed	Control of a non-holonomic mobile robot
title_sort	control of a non-holonomic mobile robot
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2007
url	http://eprints.utm.my/id/eprint/4443/1/NoorAsyikinSulaimanMFKE2007.pdf
_version_	1747814529222311936

Control of a non-holonomic mobile robot

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