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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| المؤلف الرئيسي: | |
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| التنسيق: | أطروحة |
| اللغة: | English |
| منشور في: |
2007
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| الوصول للمادة أونلاين: | http://eprints.utm.my/id/eprint/4443/1/NoorAsyikinSulaimanMFKE2007.pdf |
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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 |