Constraint-Following Control for Mobile Robots: A Hierarchical Approach

This study addresses the problem of constraint-following control of mobile robots with different categories of constraints by using a hierarchical approach. The approach is proposed based on Udwadia-Kalaba theory. When unconstrained mobile robots with complex generalized coordinates applied structural constraints as well as motion constraints, the number of constraints may be large and difficult to handle. What is more, it is difficult to obtain the dynamic equation as well as the constraint-following control force of the constrained system. To solve these problems, the hierarchical approach is creatively proposed. Numerical simulations of the mobile robot are performed to demonstrate the efficacy and accuracy of this methodology.