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1、2004IEEEInternationalConferenceonSystems,ManandCyberneticsNonlinearControlofaWheeledMobileRobotwithNonholonomicConstraintsChih-FuChang,Chin-IHuangandLi-ChenFuElectricalEngineeringDepartmentNationalTaiwanUniversity,TaiwanR.O.C.D92921001@ntu.edn.twAbstract-Thispaperproposedanovelwaytodesigna
2、ndthemotorisdirectlytransmittedtotheload.Hemantetanalysisnonlineorcontrollerstodealwiththetrackinga1.[9]havedesignedanadaptivecontrolmethodologyonproblemofanheeledmobilerobots(WMR)withBLDCM.ThemodelingproblemofaBLDCMhasbeennoriholonomicconstrainfs.Oneafthenonlinearcoiitrollersaddressedbynu
3、merousauthors,e.g.,[lO],[I11,whoseresultisadoptedtocontrolthesysfemwifhpositionoridtorquearebasedontheassumptionthatthereluctancevariationsfrockingrequirementssimultaneously.Anoiheroneisarenegligible.chosentofollowthepafhconsideringwiihposifion,torqueThispaperisorganizedasfollows.Theproble
4、mandacfuatarajwamicsbybacksfeppingcontrol.BothojformulationonthispaperisintroducedinSection2.InfeedhacksysfenisareshowntoheexpoirenfiallystableviaSection3,thenonlinearmodelofbrushlessDCmotorisLaypunovstabilivanalysis.Inordertoguaranteethehigh-presented.Systemconstrains,kinematicsanddynamic
5、s,peflormanceoperationofbrushlessDCmotors(BLDCMincludingrigidbodyandtwowheeldynamicsareaddressedinsuchapplications,thenonlinearmodeloreaccountedforinSection4.InSection5,nonlinearcontrollersareincreasingtheprecisionactionsthroughaccurocysketchingdeveloped.Simulationsanddiscussionsarepropose
6、dinnonlinearbehmiours.TheperjonnanceofcontrollersareSection6.Finally,conclusionsaredrawninSection7.veri$edthroughsimulotions.Keywords-Wheeledmobilerobot,nonlinearcontrol,2.Problemformulationstabilityanalysis,nonlinearsystem,dynamicmodel.Thenonlinearcontrolproblemfordynamicmodelofwheeledmob
7、ilerobotwithnonholonomicconstraintand1.Introductionactuatordynamicsisaddressedinthispaper.Figure1drawsInrecentyears,therehasbeenenormousactivityintheconceptualdiagramofthedifferentialtypeofthethestudyofaclassofnonholonomicsystems,namely,wheeledmobilerobotworki
