Wheeled Mobile Robot Control: Theory, Simulation, and Experimentation (Studies in Systems, Decision and Control, 380)

Preface
Acknowledgements
Contents
About the Authors
1 Background on DWMR System Modeling
	1.1 Introduction
	1.2 DWMR Modeling and Description
		1.2.1 Kinematic Model
		1.2.2 Dynamic Model
		1.2.3 Inclusion of Actuator Dynamics
		1.2.4 Formulation of the Dynamic State-Space Model
		1.2.5 Controllability of the Dynamic Model
	References
2 Background on Control Problems and Systems
	2.1 Trajectory Tracking Problem
	2.2 PD Dynamic Control
	2.3 Posture Error Dynamics
	2.4 Robustness Considerations
	2.5 Generic Model for Nonlinear Systems
	References
3 Background on Simulation and Experimentation Environments
	3.1 Implementation Environment
		3.1.1 PowerBot DWMR
		3.1.2 Trajectory Adopted
		3.1.3 Ideal Scenario
		3.1.4 Realistic Scenario
		3.1.5 Experimental Scenario
	References
4 Backstepping Control
	4.1 Introduction
	4.2 Control Design
	4.3 Simulations Using Matlab and/or MobileSim Simulator
		4.3.1 Ideal Scenario
		4.3.2 Realistic Scenario
	4.4 Experimental Results Using PowerBot DWMR
	4.5 Analysis and Discussion of Results
	4.6 General Considerations
	References
5 Robust Control: First-Order Sliding Mode Control Techniques
	5.1 Introduction
	5.2 Control Design
		5.2.1 Control Technique
		5.2.2 Stability Analysis
		5.2.3 Controller Synthesis
		5.2.4 Controller Variants
	5.3 Simulations Using Matlab and/or MobileSim Simulator
		5.3.1 Ideal Scenario
		5.3.2 Realistic Scenario
	5.4 Experimental Results Using Powerbot DWMR
	5.5 Analysis and Discussion of Results
	5.6 General Considerations
	References
6 Approximated Robust Control: First-Order Quasi-sliding Mode Control Techniques
	6.1 Introduction
	6.2 Control Design
		6.2.1 Approximated Controller Variants
		6.2.2 Stability Analysis
	6.3 Simulations Using Matlab and/or MobileSim Simulator
		6.3.1 Ideal Scenario
		6.3.2 Realistic Scenario
	6.4 Experimental Results Using PowerBot DWMR
	6.5 Analysis and Discussion of Results
	6.6 General Considerations
	References
7 Adaptive Robust Control: Adaptive Fuzzy Sliding Mode Control Technique
	7.1 Introduction
	7.2 Background on Fuzzy Systems
	7.3 Control Design
		7.3.1 Controller Synthesis
		7.3.2 Stability Analysis
		7.3.3 Augmented Adaptation Law for Removing the PE Condition
		7.3.4 Extraction of the Rule Base
	7.4 Simulations Using Matlab and/or MobileSim Simulator
		7.4.1 Ideal Scenario
		7.4.2 Realistic Scenario
	7.5 Experimental Results Using PowerBot DWMR
	7.6 Analysis and Discussion of Results
	7.7 General Considerations
	References
8 Adaptive Robust Control: Adaptive Neural Sliding Mode Control Technique
	8.1 Introduction
	8.2 Background
		8.2.1 GL Notation
		8.2.2 Approximation by RBFNNs
		8.2.3 Modeling by RBFNNs
	8.3 Control Design
		8.3.1 Controller Synthesis
		8.3.2 Stability Analysis
	8.4 Simulations Using Matlab And/or MobileSim Simulator
		8.4.1 Ideal Scenario
		8.4.2 Realistic Scenario
	8.5 Experimental Results Using PowerBot DWMR
	8.6 Analysis and Discussion of Results
	8.7 General Considerations
	References
9 Formation Control of DWMRs:  Sliding Mode Control Techniques
	9.1 Introduction
	9.2 Problem Formulation
		9.2.1 Kinematic and Dynamic Models of the DWMR
		9.2.2 Trajectory Tracking
		9.2.3 Leader-Follower Formation Control
	9.3 Control Design
		9.3.1 Leader Control Structure
		9.3.2 Leader-Follower Trajectory Tracking Control
		9.3.3 Formation Stability Analysis
	9.4 Simulations Using Matlab and/or MobileSim Simulator
		9.4.1 Ideal Scenario
		9.4.2 Realistic Scenario
	9.5 General Considerations
	References