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An Optimal Robust Trajectory Tracking Control Strategy for the Wheeled Mobile Robot
A new optimal robust control strategy is designed based on the modified backstep** method in this paper. Using this strategy, stable, accurate and...
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Fuzzy Adaptive Fault-tolerant Control for Underactuated Wheeled Mobile Robot With Prescribed Performance
This paper investigates the adaptive fuzzy fault-tolerant control (FTC) problem for a class of nonlinear underactuated wheeled mobile robot (UWMR)...
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Kinematic Analysis and Odometry-Based Navigation of an Omnidirectional Wheeled Mobile Robot on Uneven Surfaces
Wheeled mobile robots, particularly omnidirectional wheeled mobile robots are widely employed for various applications in different environments,...
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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties
To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle...
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Adaptive Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robot with Uncertainties
In this work, an adaptive control strategy is proposed for simultaneous tracking and stabilization of nonholonomic mobile robot with uncertainties....
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Adaptive Motion Control of a Mobile Wheeled Robot Taking into Account the Nonideality of the Drives
AbstractA method of mathematical modeling is used to study the controlled motion of a wheeled mobile robot in the presence of parametric...
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Fuzzy adaptive PID control method for multi-mecanum-wheeled mobile robot
Mecanum-wheeled mobile robots are widely used because they can easily realize omnidirectional movement and have flexible movement characteristics....
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Trajectory tracking control of a three-wheeled omnidirectional mobile robot using disturbance estimation compensator by RBF neural network
This paper presents a trajectory tracking approach of a three-wheeled omnidirectional mobile robot using disturbance estimation compensator by RBF...
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Stability analysis of wheeled mobile multi-robot coordinated towing system
In the towing process of the wheeled mobile multi-robot coordinated towing system, the overturning of the mobile robot itself will lead to a series...
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Path planning and tracking of wheeled mobile robot: using firefly algorithm and kinematic controller combined with sliding mode control
With the evolution of the industrial processes, mobile robots have gained a considerable interest due to their ability to perform rapidly and...
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Design and Modeling of a Two-wheeled Differential Drive Robot
There are many existing publications on balancing two-wheeled, differential drive robot (TWDDR) covering dynamic modeling, kinematic modeling, path...
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Mechanical Survey on Wheeled Mobile Robot Platform for Industrial and Personal Service Robots
Service robots are increasingly enhancing the quality of life across multiple sectors and personal domains. Recently, their use has broadened to...
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Nonlinear Disturbance Observer Incorporated Model Predictive Strategy for Wheeled Mobile Robot’s Trajectory Tracking Control
In this paper, we discuss a nonlinear disturbance observer-based double closed-loop control system for managing a wheeled mobile robot (WMR) and...
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Trajectory Tracking of Differential Wheeled Mobile Robots with Input Saturation and Mismatched Centers
In this paper, we consider differential wheeled mobile robots whose control inputs are the angular velocities of the right and left driving wheels....
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Wheeled Mobile Robot Control Theory, Simulation, and Experimentation
This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The...
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Planning and Execution of Dynamic Whole-body Locomotion for a Wheeled Biped Robot on Uneven Terrain
To improve the adaptability of the wheeled biped robot (WBR) to uneven terrain, firstly an integrated modeling method for wheeled-legs is proposed....
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Comprehensive optimal fuzzy control for a two-wheeled balancing mobile robot
In the cases of designing fuzzy control systems, tuning and optimizing fuzzy controllers are challenging problems. This work proposes an optimal...
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Motion Tracking of Four-Wheeled Mobile Robots in Outdoor Environments Using Bayes’ Filters
The demand for outdoor wheeled mobile robots (WMRs) is rapidly growing to assist humans in outdoor environments such as transportation, exploration,...
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A Case Study on the Kinematics Analysis of a Self-Stabilizing Dual-Wheeled Mobile Robot
A wheeled mobile robot with two wheels that maintains its balance is a distinct variant. It operates based on the inverted pendulum balancing...
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Adaptive Online Steering Efficiency Coefficient Estimation for Enhanced Terrain Motion Control in Four-wheeled Skid-steering Mobile Robots
In this paper, we present a novel online estimation strategy for the equivalent differential drive kinematic model parameters of a four-wheeled...