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Control of a non-holonomic mobile robot

Sulaiman, Noor Asyikin (2007) Control of a non-holonomic mobile robot. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering.

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Abstract

Non-holonomic system is a mechanical system that is subject to non-holonomic constraints. They are the constraints on the velocity of the system which can not be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical example of non-holonomic systems. In this project, the application of two different types of kinematics controller are examined and analysed. Both of the controllers are using Lyapunov method which is the simplest and successful method in kinematics stabilization. The first controller guarantees to be global asymptotically stable tracking control and the second controller guarantees to be asymptotically stable tracking control. Both controllers are able to control a non-holonomic mobile robot to track the desired trajectory. All simulations are performed using SIMULINK/MATLAB.

Item Type:Thesis (Masters)
Additional Information:Thesis (Master of Engineering (Mechatronics and Automation Control)) - Universiti Teknologi Malaysia, 2007; Supervisor : Assoc. Prof. Dr. Mohamad Noh
Uncontrolled Keywords:Non-holonomic system, mobile robots, mechanical system, non-holonomic constraints
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:4443
Deposited By: Ms Zalinda Shuratman
Deposited On:31 Oct 2007 09:27
Last Modified:15 Oct 2012 09:11

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