Wheeled Mobile Robot Control, 1st ed. 2022 Theory, Simulation, and Experimentation Studies in Systems, Decision and Control Series, Vol. 380

1.       Chapter 1 "Model development and control objectives"

1.1   Introduction

1.2   Development of the kinematic model with or without uncertainties and/or disturbances

1.3   Development of the dynamic model with or without uncertainties and/or disturbances

1.4   Trajectory tracking control problem

2.       Chapter 2 "Classic control"

2.2   Problem formulation

2.3   Control design

2.4   Simulations using Matlab and/or MobileSim simulator

2.5   Experimental results using PowerBot robot

2.6   Analysis and discussion of results

2.7   Final considerations

3.       Chapter 3 "Robust control: first order sliding mode control technique"

3.1   Introduction

3.2   Problem formulation

3.3   Control design

3.4   Simulations using Matlab and/or MobileSim simulator

3.5   Experimental results using PowerBot robot

3.6   Analysis and discussion of results

3.7   Final considerations

4.       Chapter 4 "Adaptive robust control: neural sliding mode control technique"

4.1   Introduction

4.2   Problem formulation

4.3   Control design

4.4   Simulations using Matlab and/or MobileSim simulator

4.5   Experimental results using PowerBot robot

4.6   Analysis and discussion of results

4.7   Final considerations

5.       Chapter 5 "Adaptive robust control: adaptive fuzzy sliding mode control technique - Variant I"

5.1   Introduction

5.2   Problem formulation

5.3   Control design

5.4   Simulations using Matlab and/or MobileSim simulator

5.6   Analysis and discussion of results

5.7   Final considerations

6.       Chapter 6 "Adaptive robust control: adaptive fuzzy sliding mode control technique - Variant II"

6.1   Introduction

6.2   Problem formulation

6.3   Control design

6.4   Simulations using Matlab and/or MobileSim simulator

6.5   Experimental results using PowerBot robot

6.6   Analysis and discussion of results

7.       Chapter 8 "Vision-based control by digital image processing"

7.1   Introduction

7.2   Problem formulation

7.3   Control design

7.4   Simulations using Matlab

7.5   Experimental results using MiaBot Pro robot

7.7   Final considerations

8.       Chapter 7 "Robustness to kinematic and/or dynamic disturbances: integral sliding mode control technique"

8.2   Problem formulation

8.3   Control design

8.4   Simulations using Matlab

8.5   Experimental results using MiaBot Pro robot

8.6   Analysis and discussion of results

8.7   Final considerations

9.1   Introduction

9.2   Problem formulation

9.3   Control design

9.4   Simulations using Matlab

9.5   Analysis and discussion of results

9.6   Final considerations

10.   Chapter10 "Formation control of wheeled mobile robots"

10.1           Introduction

10.2           Problem formulation

10.3           Control design

10.4           Simulations using Matlab

10.5           Analysis and discussion of results

10.6           Final considerations

Nardênio Almeida Martins has completed M.Sc. in Electrical Engineering from the Federal University of Santa Catarina (1997) and Ph.D. in Automation and Systems Engineering from the Federal University of Santa Catarina (2010). He is currently an associate professor in the Department of Informatics and the Graduate Program in Computer Science at the State University of Maringá and a member of the research groups "Robotics" of the Department of Automation and Systems of the Federal University of Santa Catarina—Florianópolis Campus and the "Automation of Systems and Robotics Group" at the State University of Santa Catarina—Joinville Campus, working mainly on the following research topics in robotics: robot manipulators, joint space, operational space, wheeled mobile robots, trajectory tracking, adaptive control, robust control theory, neural networks, fuzzy logic, and Lyapunov stability theory.

Addresses theoretical, scientific, and practical aspects of differential-drive wheeled nonholonomic mobile robots

Provides mathematical modeling of the kinematics and dynamics of differential-drive wheeled nonholonomic mobile robots

Presents the design, implementation, and performance of trajectory tracking control systems

Proposes kinematic and dynamic trajectory control designs of differential-drive wheeled nonholonomic mobile robots

Contains simulation and practical applications that enable the developer to use creativity and imagination to modify, alter, or redo control system designs in kinematic and dynamic scope

Gives source code of the control system designs, both kinematic and dynamic

Promotes to the related areas an instrument of pedagogical application