The focus of this book is kinematic and dynamic control of a single mobile robot or a group of them. New simple and integrated solutions are presented for tasks of positioning, trajectory tracking and path following. Control of Ground and Aerial Robots synthesizes new results on control of mobile robots developed by M.Sc. and Ph.D. students supervised by the authors.
The robots considered are wheeled mobile platforms, with emphasis on differential drive vehicles, and the multirotor aerial robots. Integrated control solutions based on the technique of feedback linearization are proposed to guide either a single robot or a homogeneous/heterogeneous group of mobile robots. Examples on the use of the proposed controllers are also provided.
Finally, Control of Ground and Aerial Robots is intended to help graduate and advanced undergraduate students in engineering, as well as researchers in the area of robot control, to design controllers to autonomously guide the more common mobile platforms.
Author(s): Mario Sarcinelli-Filho, Ricardo Carelli
Series: Intelligent Systems, Control and Automation: Science and Engineering, 103
Publisher: Springer
Year: 2023
Language: English
Pages: 156
City: Cham
Preface
Acknowledgements
Contents
About the Authors
1 Introduction
References
2 Kinematic Models
2.1 Wheeled Robots
2.1.1 Omnidirectional Robots
2.1.2 Unicycle (Differential Drive) Robots
2.1.3 Car-like Robots
2.1.4 Extended Kinematics for Nonholonomic Robots
2.2 Aerial Multirotor Robots
2.3 Concluding Remarks
References
3 Dynamic Models
3.1 Modeling a Unicycle Robot with Velocity Inputs
3.1.1 Model Properties
3.1.2 Model Parameterization and Identification
3.2 Dynamic Model for the Car-Like Robot
3.3 The Dynamic Model of a Quadrotor
3.4 Concluding Remarks
References
4 Motion Control
4.1 Introduction
4.2 Basic Control Objectives
4.3 Inner-Outer Controllers
4.4 Inverse Kinematics Technique
4.5 Trajectory-Tracking Control
4.6 Positioning Control
4.7 Path-Following Control
4.8 Kinematic Sliding Compensation of Non-holonomic Robots
4.9 Dynamic Control
4.10 Feedback Linearization
4.11 Cascade Dynamic Compensation
4.12 Adaptive Control
4.13 Concluding Remarks
References
5 Control of Multi-robot Systems
5.1 Introduction
5.2 Characterization of a Robot Formation
5.3 Leader-Follower Paradigm
5.4 Virtual Structure Paradigm
5.4.1 Cluster Space Versus Robots Space
5.4.2 Transformations
5.4.3 Movement Jacobian
5.5 Control in the Cluster Space
5.6 Control and Dynamic Compensation in the Robots Space
5.7 Scalability
5.8 Multiple Objectives
5.9 Concluding Remarks
References
Index
