Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/17745
Title: DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY
Authors: ZHU ZHEN
Keywords: control,single-wheel, robot,improved dynamic stability,nonholonomic
Issue Date: 28-Sep-2009
Source: ZHU ZHEN (2009-09-28). DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY. ScholarBank@NUS Repository.
Abstract: Main objective of this research is to explore robot configurations that ensure excellent dynamic stability. Our approach is to build such mobile robot that exploits the phenomenon of gyro-stability. Three prototype robots, named Gyrobot, have been built in all. QNX is chosen as the software platform. A 3D virtual simulation environment has also been developed as an aid for designing the Gyrobot. It uses ADAMS for simulation with animation of the dynamic behavior. The capability of this simulation platform is further extended with integration with MATLAB. Gyrobot is dynamically stable, but statically unstable, with both first-order and second-order nonholonomic constraints. Three equations are identified as the key equations for Gyrobot dynamic motion. By examining the relationship within these equations, a tracking control scheme is proposed to achieve maximum steering velocity with constraints of path radius. A path following controller is employed to overcome the adverse effect of nonlinear and nonholonomic constraints, inherited by the single-wheel robot. The controller uses a reference velocity generator designed according to the principle of following a virtual vehicle. Kinematic constraints are taken into consideration. A feedback controller is designed using a linearized model. Computer simulation results are obtained to validate the new control method.
URI: http://scholarbank.nus.edu.sg/handle/10635/17745
Appears in Collections:Ph.D Theses (Open)

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Gyrobot I - Move.AVI5.45 MBAVI

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Gyrobot II - Manual stabilization.avi18.81 MBAVI

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Gyrobot III - Auto Stabilization.wmv1.45 MBWMV

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01Cover.pdf43.23 kBAdobe PDF

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02Acknowledgements.pdf36.88 kBAdobe PDF

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03TableofContents.pdf43.32 kBAdobe PDF

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04Summary.pdf38.83 kBAdobe PDF

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05ListofFiguresandTables.pdf94.88 kBAdobe PDF

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06ChapI-III.pdf7.92 MBAdobe PDF

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07ChapIV-VI.pdf3.04 MBAdobe PDF

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08Bibliography.pdf71.36 kBAdobe PDF

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09Publications.pdf53.88 kBAdobe PDF

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10Appendix.pdf120.78 kBAdobe PDF

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