Control and Dynamics of Mobile Robots

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• ADEM TUNCER

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…

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• VOLKAN SEZER

In this paper, we consider the problem of decentralized cohesive motion control of a formation of autonomous vehicles or robots moving in three dimensions, where the formation is required to move from its initial setting (defined by the positions of the agents in the formation) to a final desired setting and, during t…

• İSMAİL BAYEZİT

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…

SUMMARY This paper presents the results of a study on the dynamical modeling, analysis, and control of a spherical rolling robot. The rolling mechanism consists of a 2-DOF pendulum located inside a spherical shell with freedom to rotate about the transverse and longitudinal axis. The kinematics of the model has been i…

• ZEKİ YAĞIZ BAYRAKTAROĞLU

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…