TY - GEN
T1 - Stability Versus Maneuverability of Non-holonomic Differential Drive Mobile Robot
T2 - 4th IEEE Conference on Control Technology and Applications, CCTA 2020
AU - Mondal, Kaustav
AU - Wallace, Brent
AU - Rodriguez, Armando A.
N1 - Funding Information:
K.Mondal is a Ph.D. student in School of Elect., Computer & Energy Eng. (ECEE), Arizona State University (ASU), Tempe, AZ; Brent Wallace is a BS student in ECEE; Dr. A.A. Rodriguez aar@asu.edu is a Professor in ECEE, ASU. This work has been supported, in part, by National Science Foundation (NSF) Grant No. 1565177. Any opinion, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of NSF.
PY - 2020/8
Y1 - 2020/8
N2 - 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.
AB - 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.
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U2 - 10.1109/CCTA41146.2020.9206155
DO - 10.1109/CCTA41146.2020.9206155
M3 - Conference contribution
AN - SCOPUS:85094167468
T3 - CCTA 2020 - 4th IEEE Conference on Control Technology and Applications
SP - 388
EP - 395
BT - CCTA 2020 - 4th IEEE Conference on Control Technology and Applications
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 August 2020 through 26 August 2020
ER -