Muhammad Muzzammil , Muhamad Ruzlan (2009) Control Of Mobile Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)
![[img]](http://digitalcollection.utem.edu.my/style/images/fileicons/application_pdf.png) |
PDF (24 Pages)
Control_Of_Mobile_Robot_Muzzammil_Bin_Muhamad_Ruzlan_TJ211.415.M59_2009_24.pdf - Submitted Version Download (1MB) |
|
PDF (Full Text)
Control_Of_Mobile_Robot_Muzzammil_Bin_Muhamad_Ruzlan_TJ211.415.M59_2009.pdf - Submitted Version Restricted to Registered users only Download (4MB) |
Abstract
Mobile robot is a type of non-holonomic system. This is because the constraints on the velocity of the system cannot be integrated into position constraints that can be used to reduce the number of generalized coordinates. In other words, non-holonomic system is path-dependent and the number of generalized coordinates required to represent a system completely is more than its control degrees of freedom. This project attempts to control a non-holonomic mobile robot to track the desired trajectory. In this project, the combination of a kinematics and a torque controller is used to control the robot. The Lyapunov method is used to prove the stability of the system. It is a simplest and also successful method in kinematics stabilization, while the Lagrange formulism is used to derive the dynamic equations of the mobile robot then rearrange it into torque term. This project is a simulation by using SIMULINK/MA TLAB software.
| Item Type: | Final Year Project (Project Report) |
|---|---|
| Uncontrolled Keywords: | Mobile robots, Mobile robots -- Control systems |
| Subjects: | T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Library > Final Year Project > FKEKK |
| Depositing User: | Siddiq Jais |
| Date Deposited: | 20 Jun 2012 07:23 |
| Last Modified: | 28 May 2015 02:36 |
| URI: | http://digitalcollection.utem.edu.my/id/eprint/3668 |
Actions (login required)
 |
View Item |
Altmetric
Altmetric