Nonlinear control synthesis for parking control of mixed conventional/braking actuation mobile robots

Abstract

The Mixed convention/braking Actuation Mobile Robot (MAMR) was designed to tackle some of the drawbacks of conventional mobile robots such as losing controllability due to primary actuator failures, mechanical complexity, weight, and cost. It replaces conventional steering wheels with braking actuators and conventional drive wheels with a single omni-directional wheel. This makes it fall under the category of under-actuated mobile robots. The brakes have only two states, ON and OFF, resulting in discontinuous dynamics. This inspires the use of a discontinuous control law to control the system. This work presents a Sliding Mode Controller (SMC) design to park the MAMR system from a given initial configuration to a desired final configuration. Experimental results are presented to validate the parking control of the MAMR.