000			01818nam a22001577a 4500
008			230906b ||||| |||| 00| 0 eng d
020			_a9783030779115
050			_aTJ211.4 _b.M386 2022
100			_aMartins, Nardênio Almeida
245			_aWheeled Mobile Robot Control: _btheory, simulation, and experimentation / _cNardênio Almeida Martins, and Douglas Wildgrube Bertol
246			_aStudies in Systems, Decision and Control 380
260			_aSwitzerland: _bSpringer, _c2022.
300			_a209 Pages; _c24 cm.
521			_aThis book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
942			_2lcc _cBK
999			_c5863 _d5863