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.
Dynamic Modeling and Control of Dual Wheeled Mobile Robots Compliantly Coupled to a Common Payload
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Vinay, T., Postma, B., and Kangsanant, T. (September 1, 1999). "Dynamic Modeling and Control of Dual Wheeled Mobile Robots Compliantly Coupled to a Common Payload." ASME. J. Dyn. Sys., Meas., Control. September 1999; 121(3): 457–461. https://doi.org/10.1115/1.2802496
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