Robust Adaptive Terminal Sliding Mode Control of an Omnidirectional Mobile Robot for Aircraft Skin Inspection
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-020-0026-4
Abstract: In this paper, an adaptive terminal sliding mode control scheme for an omnidirectional mobile robot is proposed as a robust solution to the trajectory tracking control problem. The omnidirectional mobile robot has a double-frame structure,… read more here.
Keywords: sliding mode; control; terminal sliding; adaptive terminal ... See more keywords
Passivity-based tracking control of an omnidirectional mobile robot using only one geometrical parameter
Sign Up to like & getrecommendations! Published in 2019 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2019.07.002
Abstract: Abstract This paper presents an output feedback tracking control scheme for a three-wheeled omnidirectional mobile robot, based on passivity property and a modified generalized proportional integral (GPI) observer. The proposed control approach is attractive from… read more here.
Keywords: passivity; control; mobile robot; tracking control ... See more keywords
Vision-Based Navigation of Omnidirectional Mobile Robots
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2913077
Abstract: This letter considers the problem of collision-free navigation of omnidirectional mobile robots in environments with obstacles. Information from a monocular camera, encoders, and an inertial measurement unit is used to achieve the task. Three different… read more here.
Keywords: navigation omnidirectional; vision based; mobile robots; omnidirectional mobile ... See more keywords
A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints
Sign Up to like & getrecommendations! Published in 2018 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2018.2842259
Abstract: Mobile robots for automatically transporting products in factories and warehouses contribute to an increase in efficiency. Omnidirectional mobile robots can move immediately in an arbitrary direction and overcome the disadvantages of lack of mobility in… read more here.
Keywords: robot; mobile robot; novel omnidirectional; sliding joints ... See more keywords