Stability Versus Maneuverability of Non-holonomic Differential Drive Mobile Robot: Focus on Aggressive Position Control Applications

Kaustav Mondal, Brent Wallace, Armando A. Rodriguez

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a novel control centric dynamic modeling analysis focused on the relationship between stability and maneuverability of non-holonomic differential drive robots. The impact of specific vehicle design parameters on stability, lateral and longitudinal maneuverability of robot are examined over a broad range of forward motion operating conditions. The central objective is to determine whether the directional instability created by placing the center of gravity (c.g.) behind wheel-axle, aids in the performance of a robot executing aggressive cornering maneuvers. To this end, the paper explores two outer-loop position control applications, (1) Trajectory tracking using Lyapunov based method, (2) Minimum-time maneuvering of racetrack using Model Predictive Control (MPC) strategy. A hierarchical inner-outer loop control architecture with a weighted H^infty mixed sensitivity based inner-loop velocity tracking system, is presented for the same. The advantages and disadvantages of proposed modeling approach and associated control relevant performance tradeoffs are demonstrated through simulations in discrete time.

Original languageEnglish (US)
Title of host publicationCCTA 2020 - 4th IEEE Conference on Control Technology and Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages388-395
Number of pages8
ISBN (Electronic)9781728171401
DOIs
StatePublished - Aug 2020
Event4th IEEE Conference on Control Technology and Applications, CCTA 2020 - Virtual, Montreal, Canada
Duration: Aug 24 2020Aug 26 2020

Publication series

NameCCTA 2020 - 4th IEEE Conference on Control Technology and Applications

Conference

Conference4th IEEE Conference on Control Technology and Applications, CCTA 2020
CountryCanada
CityVirtual, Montreal
Period8/24/208/26/20

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Instrumentation

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