Control of a wheeled robot in presence of sliding of wheels using adaptive backstepping method

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

KEYMASI KHALAJI ALI; Jalalnezhad Mostafa

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2018 | Volume:18 | Issue:4 Page(s): 144-152

Download Full-Text

Persian Verion

View:

555

Download:

Cites:

Information Journal Paper

Title

Control of a wheeled robot in presence of sliding of wheels using adaptive backstepping method

Author(s)

KEYMASI KHALAJI ALI | Jalalnezhad Mostafa | Issue Writer Certificate

Keywords

Wheeled mobile robotQ2

Nonholonomic systemsQ1

Trajectory trackingQ1

Backstepping methodQ1

Abstract

There exist satisfactory results in the analysis of the motion control of the vehicles with the assumption of nonslip (pure rolling) condition of robot wheeles, But unfortunately in practice due to the presence of uncertainties such as sliding of wheels especially in agriculture applications where working conditions are rough the results and the quality of the control performance of the system are affected. The ideal control of wheeled systems is performed with the assumption of the existence of nonholonomic non-slip constraints, while in the real system these constraints are violated due to the presence of slippages. In this paper the problem of Trajectory tracking control of wheeled vehicles in the presence of sliding is addressed. To take sliding effects into account, sliding models are introduced into the kinematic model. In other words, these effects are added as unknown parameters to the ideal kinematic model. For taking into account the sliding effects their mathematical models are introduced in system kinematic model. In another word these effects as an unknown parameters are added to the system ideal kinematics. An integrating parameter adaptation technique and backstepping control algorithm has been utilized in order to control the system. The backstepping control law is designed to track the reference trajectories and make the robot asymptotically stable around the reference trajectories. Obtained results show that the proposed adaptive controller can guarantee tracking reference trajectories in the presence of sliding of wheels. Finally, the obtained results are presented for tracking reference trajectories and comparison results shows the efficiency of using the estimation of slips in control of the system.

Cites

No record.

References

No record.

Cite

APA: Copy

KEYMASI KHALAJI, ALI, & Jalalnezhad, Mostafa. (2018). Control of a wheeled robot in presence of sliding of wheels using adaptive backstepping method. MODARES MECHANICAL ENGINEERING, 18(4 ), 144-152. SID. https://sid.ir/paper/179485/en

Vancouver: Copy

KEYMASI KHALAJI ALI, Jalalnezhad Mostafa. Control of a wheeled robot in presence of sliding of wheels using adaptive backstepping method. MODARES MECHANICAL ENGINEERING[Internet]. 2018;18(4 ):144-152. Available from: https://sid.ir/paper/179485/en

IEEE: Copy

ALI KEYMASI KHALAJI, and Mostafa Jalalnezhad, “Control of a wheeled robot in presence of sliding of wheels using adaptive backstepping method,” MODARES MECHANICAL ENGINEERING, vol. 18, no. 4 , pp. 144–152, 2018, [Online]. Available: https://sid.ir/paper/179485/en

Related Journal Papers