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Robust path tracking control of nonholonomic wheeled mobile robot: Experimental validation

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  • Robotics and Automation
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Abstract

The article addresses a robust control strategy for efficient path tracking of nonholonomic wheeled mobile robot (WMR) based on time delay approach. Depending on the application requirements, nonholonomic WMR system might be subjected to various payloads, which affects the overall system mass, inertia, position of center of mass and other hardware parameters statically or dynamically. Under such circumstances, accurate modeling of nonholonomic robots is difficult and challenging. The proposed controller negotiates uncertainties caused due to payload variations as well as associated disturbances and reduces modeling effort through approximation of the overall uncertainties with a composite function. It has been shown that the controller does not require any bounds on the uncertainties, thus providing unconstrained working paradigm. The controller is proposed for a nonholonomic WMR and its effectiveness is verified through simulation and experimentally while WMR is commanded to track various paths. The superior performance is also noted against adaptive sliding mode control law.

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Author information

Authors and Affiliations

  1. AcSIR-Central Mechanical Engineering Research Institute, at Robotics and Automation Lab., Durgapur, West Bengal, India

    Spandan Roy

  2. CSIR-Central Mechanical Engineering Research Institute, at Robotics and Automation Lab., Durgapur, West Bengal, India

    Sambhunath Nandy, Ranjit Ray & Sankar Nath Shome

Authors
  1. Spandan Roy
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  2. Sambhunath Nandy
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  3. Ranjit Ray
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  4. Sankar Nath Shome
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Corresponding author

Correspondence to Spandan Roy.

Additional information

Recommended by Associate Editor Yingmin Jia under the direction of Editor Hyouk Ryeol Choi.

Spandan Roy received his MTech. degree in Mechatronics from Academy of Scientific and Innovative Research (Ac-SIR) in 2013. He worked as Scientist Trainee from 2011 to 2014 at CSIRCentral Mechanical Engineering Research Institute (CMERI). His research interests include nonlinear control, robust control, and robotics.

Sambhunath Nandy received B.E. (1994) and M.E. (1996) degree in mechanical engineering from University of Calcutta & B.E.College (Deemed University) respectively, and obtained PhD (2014) from Indian Institute of Technology (IIT), Kharagpur in the area of robust control. He is working in the field of Robotics at CSIR-CMERI, Durgapur, India as a Principal Scientist. His research interests are mainly on navigation, guidance & robust control of nonholonomic dynamic systems and underwater vehicles.

Ranjit Ray obtained his PhD in Applied Mechanics & Aerospace Engineering from Bengal Engineering and Science University (BESU, now IIEST), Shibpur, India in 2010. He is working with Robotics & Automation Group of CSIRCMERI, Durgapur, India as Senior Scientist. He is also a faculty of AcSIR, CSIR, India. His research interests include Mobile robot path planning, navigation, localization and machine vision.

Sankar Nath Shome received his B.S. in Mechanical Engineering from Bengal Engineering College (Now IIEST), Shibpur, India, an MTech degree from IIT, Kanpur, India, and a Ph.D. degree in Mechanical Engineering from National Institute of Technology, Durgapur, India. He is working as a chief scientist at CSIR-CMERI, Durgapur, India. His areas of interest include robotics, mechanisms and autonomous underwater vehicle technologies. Presently, he is involved in the design and development of hybrid modular AUV with cooperative modules.

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Roy, S., Nandy, S., Ray, R. et al. Robust path tracking control of nonholonomic wheeled mobile robot: Experimental validation. Int. J. Control Autom. Syst. 13, 897–905 (2015). https://doi.org/10.1007/s12555-014-0178-1

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  • DOI: https://doi.org/10.1007/s12555-014-0178-1

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