Stability Analysis of the Internal Dynamics of a Wheeled Mobile Robot
MetadataShow full item record
The stability of the internal dynamics of a wheeled mobile robot is analyzed. It is shown that the wheeled mobile robot exhibits unstable internal dynamics when moving backwards. Most control methods of wheeled mobile robots are designed based on input-output relations. Since the internal dynamics are not represented in input-output relations, stability properties of the internal dynamics are generally neglected. Nevertheless, the internal dynamics do affect the behavior of mobile robots. Taking the lookahead control method as an example, it is shown that, by using a novel Liapunov function, the internal dynamics of a two-wheel differential-drive mobile robot are unstable when it is commanded to move backwards. Both simulation and experimental results are provided to verify the analysis.
Showing items related by title, author, creator and subject.
Coelho, Emanuel Ferreira (Monterey, California. Naval Postgraduate School, 1994-06);Coastal currents and water column stratification frequently are determined by local phenomena that interact to produce complex dynamics. A process study was designed to assess the role of tides over a coastal shelf break ...
Martin, Michael A. (Monterey, California. Naval Postgraduate School, 2016-06);Submerged bodies propagating in stratified fluids frequently create disturbances in temperature, salinity, and momentum that are detectable at the air-sea interface. This project includes the addition of momentum excess ...
Towards understanding terrorism: a theoretical examination of internal cohesion in terrorist groups and the negative dynamic of violence Sper, Mary K. (Monterey, California. Naval Postgraduate School, 1995-03);Terrorism, like other forms of political violence, has an organizational context. Few studies, however, have considered the influence of organizational life upon the outward behavior of the terrorist group. This thesis ...