0
TECHNICAL PAPERS

Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots

[+] Author and Article Information
Xiaorui Zhu, Sungyong Park

Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah 84112

Mark A. Minor

Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah 84112minor@mech.utah.edu

J. Dyn. Sys., Meas., Control 128(3), 489-498 (Jan 13, 2006) (10 pages) doi:10.1115/1.2229254 History: Received December 14, 2004; Revised January 13, 2006

A distributed robust controller for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering capability without additional hardware. In this research, a distributed nonlinear damping controller using backstepping techniques for wheel-torque control is first developed for single-axle unicycle type robots. The controller is then extended to multiple-axle CFMMR configurations and is robust to disturbances created by modeling errors; especially highly nonlinear frame forces caused by axle interaction. In particular, the controller considers time-varying reference velocities and allows the robot to perform posture regulation, path following, or general trajectory tracking. A two-axle scout CFMMR configuration is used to evaluate the controller. Simulation and experimental results verify robust dynamic motion control of path following.

FIGURES IN THIS ARTICLE
<>
Copyright © 2006 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Two-axle CFMMR experimental configuration

Grahic Jump Location
Figure 2

The ith axle module kinematics

Grahic Jump Location
Figure 3

General configuration of a two-axle CFMMR

Grahic Jump Location
Figure 4

The general configuration of single-finite-element of the compliant frame module

Grahic Jump Location
Figure 5

A motion and dynamic control structure of the CFMMR

Grahic Jump Location
Figure 6

Experimental posture data for path following, where solid lines represent the desired position and dashed lines represent the experimentally determined position

Grahic Jump Location
Figure 7

Experimental position errors of each axle and reference velocity of middle point O while line path following according to odometric data

Grahic Jump Location
Figure 8

Experimental path following results without beam force compensation according to odometric data

Grahic Jump Location
Figure 9

Snapshots of line path following without beam compensation

Grahic Jump Location
Figure 10

Experimental and simulation results illustrating torque saturation of the front left wheel while line path following

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In