Dynamic Modeling and Control of Dual Wheeled Mobile Robots Compliantly Coupled to a Common Payload

[+] Author and Article Information
Thurai Vinay, Bradley Postma, Theo Kangsanant

Department of Electrical Engineering, Royal Melbourne Institute of Technology, Melbourne, Australia, 3001

J. Dyn. Sys., Meas., Control 121(3), 457-461 (Sep 01, 1999) (5 pages) doi:10.1115/1.2802496 History: Received January 24, 1998; Online December 03, 2007


Lagrange formalism is applied to derive a dynamic model, and design a nonlinear controller for two nonholonomic, differentially steered, wheeled mobile robots compliantly linked to a common payload. The resulting multivariable system model is of a large order and can be block decoupled by selective state feedback into five independent subsystems, two of which effectively represent the deviation dynamics of the individual robots from a prescribed path; two others represent their forward motion dynamics; while the fifth describes the payload dynamics. Controllers for each of the robot subsystems, including self-tuning adaptive controllers for the nonlinear deviation dynamics subsystems, are designed by the pole-placement technique. System performance is then evaluated via simulation for the case where each robot is undergoing curvilinear motion.

Copyright © 1999 by The American Society of Mechanical Engineers
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