Dynamic modelling and control of differential-drive mobile robot

Run Mao; Yingcheng Tian; Huafeng Dai

doi:10.1117/12.2672156

21 March 2023 Dynamic modelling and control of differential-drive mobile robot

Run Mao, Yingcheng Tian, Huafeng Dai

Proceedings Volume 12609, International Conference on Computer Application and Information Security (ICCAIS 2022); 126090W (2023) https://doi.org/10.1117/12.2672156
Event: International Conference on Computer Application and Information Security (ICCAIS 2022), 2022, ONLINE, ONLINE

Abstract

This article focuses the trajectory tracking control as well as dynamics of differential-drive mobile robot (DDMR). This article sets up the dynamic as well as kinematic models simultaneously based on the mass point center of DDMR. At first, a DDMR dynamics is created in light of Lagrangian mechanics, in which the Lagrange multipliers are acquainted with tackling the issue of nonholonomic limitations. Then, a controller including torque and speed control is put up in view of backstepping technique to handle the problem of trajectory tracking, as well as its asymptotic stability is demonstrated by Lyapunov hypothesis. At long last, the mathematical simulation results show its viability and productivity.

Citation Download Citation

Run Mao, Yingcheng Tian, and Huafeng Dai "Dynamic modelling and control of differential-drive mobile robot", Proc. SPIE 12609, International Conference on Computer Application and Information Security (ICCAIS 2022), 126090W (21 March 2023); https://doi.org/10.1117/12.2672156

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