Titlebook: Wheeled Mobile Robot Control; Theory, Simulation, Nardênio Almeida Martins,Douglas Wildgrube Bertol Book 2022 Springer Nature Switzerland

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Studies in Systems, Decision and Controlhttp://image.papertrans.cn/w/image/1027861.jpg

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Approximated Robust Control: First-Order Quasi-sliding Mode Control Techniques,In this chapter, a first-order quasi-sliding mode control (FOQSMC) are developed intending to mitigate the chattering phenomenon. The stability analysis of this controller, using Lyapunov theory, is presented as well as the effectiveness of the controller variants is verified through simulations and experiments.

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Nardênio Almeida Martins,Douglas Wildgrube BertolAddresses theoretical, scientific, and practical aspects of differential-drive wheeled nonholonomic mobile robots.Provides mathematical modeling of the kinematics and dynamics of differential-drive wh

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,Background on Simulation and?Experimentation Environments,imulation and in real experiments. This chapter describes the simulation and experimental environments, dealing with the implementation design considering data and information from the PowerBot DWMR, the trajectory adopted, as well as the ideal, realistic, and experimental scenarios.