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The necessary of the thesis
In these years, there is a growing recognition that mobile robots have the capability to operate
in a wide area and further the ability to manipulate in an automatic and smart way without any actions
taken by human. Hence, this project concentrated on researching and developing some control laws
for wheeled mobile robots.
The researching problems of this thesis
The author concentrated on radical control methods in order to deal with wheel slipping
whenever there exist slippage, model uncertainties, and external disturbances.
Object of study
So as to easily demonstrate the validity and performance of the proposed control methods,
the object of study was selected to be one three-wheel mobile robot. To be specific, this robot consists
of two differential driving wheels and one caster wheel used to make gravity balance.
The purpose of researching
Proposing a number of radical control approaches so as to cope with the negative effects of
model uncertainties, external disturbances, and above all slippage.
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