Practical Implementation of Passivity-Based Robust Switching Posture Control of Wheeled Mobile Robots With Model Uncertainty

Our previous study presented the theoretical work for a passivity-based robust switching posture control of wheeled mobile robots (WMRs) with model uncertainty and performed the numerical simulations to show its effectiveness. In this regard, this paper validated the proposed technique based on actually fabricated WMR under the various initial conditions. The actual test results have proven that the posture stabilization of the WMR can be successfully accomplished via the proposed control strategy. In addition, it is found that the action of robust model uncertainty compensation reduces the time of the entire stabilization process and guarantees the strict decrease of navigation energy. This work will become a valuable asset for those who wish to practically implement the posture stabilization of WMR based on the passivity-based robust switching control laws totally designed by the 2
^nd
order Largrangian dynamics instead of the 1
^st
order kinematics based approach.