Dynamic Modelling and Control of Differential-Drive Mobile Robot

EasyChair Preprint 8938

Abstract

This paper addresses the dynamics and trajectory tracking control of the differential-drive mobile robot (DDMR). The center of mass point and the mid-point on the axis between the driving wheels, as two reference points of generalized coordinate which leads definitely different results, are usually selected to model the dynamics of the DDMR. This paper establishes the kinematic and dynamic models simultaneously on the foundation of the center of mass point of DDMR. Firstly, a formulation for DDMR dynamics is developed based on Lagrangian mechanics, where the Lagrange multipliers are introduced to solve the problem of nonholonomic constraints. Next, a controller combining velocity and torque control is proposed based on backstepping method to solve the trajectory tracking problem, and its asymptotic stability is proven by Lyapunov theory. Finally, the numerical simulation results demonstrate its effectiveness and efficiency.

Keyphrases: Backstepping control, dynamic modelling, nonholonomic constraint, trajectory tracking

@booklet{EasyChair:8938,
  author    = {Run Mao and Huafeng Dai},
  title     = {Dynamic Modelling and Control of Differential-Drive Mobile Robot},
  howpublished = {EasyChair Preprint 8938},
  year      = {EasyChair, 2022}}