DYNAMIC MODELLING AND ASYMPTOTIC POINT STABILIZATION CONTROL OF TWO DIFFERENTIAL WHEELED MOBILE ROBOT

  • Drilon Bunjaku
  • Jovan Stankovski
  • Mile Stankovski

Abstract

In this paper, we present the dynamic modelling of two differential wheeled mobile robot, and also propose an easily implementable control strategy, for stabilizing the nonlinear and nonholonomic WMR system around the desired final posture. The asymptotic stability is approached by using two PI controllers. The dynamic model of WMR is used in the simulation environment of Matlab/Simulink, for testing the proposed stabilizing control strategy. The validity of control strategy is verified by the simulation results.

Key words: wheeled mobile robot; dynamic modelling; nonholonomic robots; stabilization control; linear controller

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Published
Jan 26, 2017
How to Cite
BUNJAKU, Drilon; STANKOVSKI, Jovan; STANKOVSKI, Mile. DYNAMIC MODELLING AND ASYMPTOTIC POINT STABILIZATION CONTROL OF TWO DIFFERENTIAL WHEELED MOBILE ROBOT. Journal of Electrical Engineering and Information Technologies - JEEIT, [S.l.], v. 1, n. 1-2, p. 25–35, jan. 2017. ISSN 2545-4269. Available at: <http://jeeit.feit.ukim.edu.mk/index.php/jeeit/article/view/24>. Date accessed: 01 may 2017.