Tracking control of wheel mobile robot (WMR)

The objective of this thesis is to present a tracking control of wheel mobile robot based on kinematic mathematical model. At two wheel mobile robot, the purpose of a tracking control is to improve the performance of robot tracking at various time varying paths. Producing backstepping controller alg...

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Main Author:	Ali, Achnas
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/42034/5/AchnasAliMFKE2013.pdf
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id	my-utm-ep.42034
record_format	uketd_dc
spelling	my-utm-ep.420342017-07-11T01:51:27Z Tracking control of wheel mobile robot (WMR) 2013-06 Ali, Achnas TJ Mechanical engineering and machinery The objective of this thesis is to present a tracking control of wheel mobile robot based on kinematic mathematical model. At two wheel mobile robot, the purpose of a tracking control is to improve the performance of robot tracking at various time varying paths. Producing backstepping controller algorithm for wheel mobile robot (WMR) is used to minimize the tracking error. In this thesis, robust control technique that based on backstepping theory is presented for control at the wheel mobile robot system. The performance of the wheel mobile robot at various time varying path and the effect of variation d , the distance between centre point to driving wheels axis, have been analyzed by using SIMULINK, MATLAB software. It is found the error of driving, lateral and orientation direction can be minimized and satisfactory performance has been achieved. 2013-06 Thesis http://eprints.utm.my/id/eprint/42034/ http://eprints.utm.my/id/eprint/42034/5/AchnasAliMFKE2013.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Ali, Achnas Tracking control of wheel mobile robot (WMR)
description	The objective of this thesis is to present a tracking control of wheel mobile robot based on kinematic mathematical model. At two wheel mobile robot, the purpose of a tracking control is to improve the performance of robot tracking at various time varying paths. Producing backstepping controller algorithm for wheel mobile robot (WMR) is used to minimize the tracking error. In this thesis, robust control technique that based on backstepping theory is presented for control at the wheel mobile robot system. The performance of the wheel mobile robot at various time varying path and the effect of variation d , the distance between centre point to driving wheels axis, have been analyzed by using SIMULINK, MATLAB software. It is found the error of driving, lateral and orientation direction can be minimized and satisfactory performance has been achieved.
format	Thesis
qualification_level	Master's degree
author	Ali, Achnas
author_facet	Ali, Achnas
author_sort	Ali, Achnas
title	Tracking control of wheel mobile robot (WMR)
title_short	Tracking control of wheel mobile robot (WMR)
title_full	Tracking control of wheel mobile robot (WMR)
title_fullStr	Tracking control of wheel mobile robot (WMR)
title_full_unstemmed	Tracking control of wheel mobile robot (WMR)
title_sort	tracking control of wheel mobile robot (wmr)
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2013
url	http://eprints.utm.my/id/eprint/42034/5/AchnasAliMFKE2013.pdf
_version_	1747816675741270016

Tracking control of wheel mobile robot (WMR)

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