Next Article in Journal
Experimental Investigation on Contaminated Friction of Hydraulic Spool Valve
Previous Article in Journal
On-Line Tendency Control of Dissolved Oxygen Concentration during Aerobic Fed-Batch Fermentations
Open AccessArticle

Posture Stabilization of Wheeled Mobile Robot Based on Passivity-Based Robust Switching Control with Model Uncertainty Compensation

Department of Mechanical and Automotive Engineering, Kunsan National University, Gunsan 54150, Korea
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(23), 5233; https://doi.org/10.3390/app9235233
Received: 25 October 2019 / Revised: 26 November 2019 / Accepted: 29 November 2019 / Published: 1 December 2019
(This article belongs to the Section Mechanical Engineering)
This study presents apassivity-based robust switching control for the posture stabilization of wheeled mobile robots (WMRs) with model uncertainty. Essentially, this proposed strategy is switching between (1) passivity-based robust control to lead the robot to the neighborhood of local minima with a finite time and (2) another robust control to perturb the w-rotational motion of the WMR before the v-kinetic energy of the WMR become meaningless, thereby, eventually converging to the desired posture. Thus, combining two switching control laws ensures the global convergence of (x,y)-navigation of WMRs from any initial position to desired set. Especially, the inter-switching time is intentionally selected before the WMR completely loses its mobility, which ensures a strict decrease in (x,y)-navigation potential energy and a better global convergence rate. In addition, this control architecture also includes model uncertainty compensation, often neglected in practice, and analytical study of rotational perturbation was also conducted. The Lyapunov technique and energetic passivity were utilized to derive this control law. Simulation results are presented to illustrate the effectiveness of the proposed technique. It was found from the results that the WMR was quickly converged to the desired posture even under the presence of model uncertainty. View Full-Text
Keywords: wheeled mobile robot (WMR); passivity-based robust control; model uncertainty; controller switching; posture stabilization; Lyapunov technique wheeled mobile robot (WMR); passivity-based robust control; model uncertainty; controller switching; posture stabilization; Lyapunov technique
Show Figures

Figure 1

MDPI and ACS Style

Jung, D.; Bang, S. Posture Stabilization of Wheeled Mobile Robot Based on Passivity-Based Robust Switching Control with Model Uncertainty Compensation. Appl. Sci. 2019, 9, 5233.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop