Control and Dynamics of Mobile Robots

In this paper, we consider a control strategy of multiagent systems, or simply, swarms, based on artificial potential functions and the sliding-mode control technique. First, we briefly discuss a "kinematic" swarm model in n-dimensional space introduced in an earlier paper. In that model, the interindividual interacti…

• VEYSEL GAZİ

This paper surveys how some "intelligence" can be incorporated in sliding-mode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the well-known problems met in practical implementations of SMCs. The use of variable-structure system theory in design and stability analysis o…

We present a sampling-based motion planner that improves the performance of the probabilistically optimal RRT* planning algorithm. Experiments demonstrate that our planner finds a fast initial path and decreases the cost of this path iteratively. We identify and address the limitations of RRT* in high-dimensional conf…

This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of parametric uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechan…

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• BEKİR AKSOY

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• RAŞİT KÖKER
• SERKAN DERELİ

This paper presents the design of a new, differentiable kinematic control law that utilizes a damped dynamic oscillator with a tunable frequency of oscillation to achieve global uniformly ultimately bounded tracking (i.e., the position/orientation tracking errors globally exponentially converge to a neighbourhood abou…

This study includes altitude stabilization, hovering control any desired position and attitude control of quadrotor. Classically PD controller derived and applied to this system. Inverse dynamic control, feedback linearization control and sliding mode control methods have used to derive as nonlinear controllers. Linea…

Trajectory planning for a tractor-trailer vehicle is challenging due to the non-convex collision avoidance constraints and the unstable kinematics. This article aims to plan precise and optimal trajectory for a car-like tractor that tows standard or general N-trailers in an environment with static obstacles. This traj…

• TANKUT ACARMAN

This paper presents the design of a differentiable, kinematic control law that achieves global asymptotic tracking. In addition, we also illustrate how the proposed kinematic controller provides global exponential tracking provided the reference trajectory satisfies a mild persistency of excitation (PE) condition. We…

In this study, a new sliding surface design approach for second-order systems is proposed that varies the sliding surface in a nonlinear and time-varying fashion. The control law is reformulated by using the new surface that is defined in the new co-ordinate axis. The nonlinear surface is then moved in a proper direct…

• MÜJDE GÜZELKAYA

In this study, a new sliding surface design approach for second-order systems is proposed that varies the sliding surface in a nonlinear and time-varying fashion. The control law is reformulated by using the new surface that is defined in the new co-ordinate axis. The nonlinear surface is then moved in a proper direct…

• MEHMET TURAN SÖYLEMEZ