Dual closed‐loop tracking control for wheeled mobile robots via active disturbance rejection control and model predictive control
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.4750
Abstract: A dual closed‐loop tracking control is proposed for a wheeled mobile robot based on active disturbance rejection control (ADRC) and model predictive control (MPC). In the inner loop system, the ADRC scheme with an extended… read more here.
Keywords: wheeled mobile; dual closed; closed loop; tracking control ... See more keywords
Practical consensus tracking control of multiple nonholonomic wheeled mobile robots in polar coordinates
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.4967
Abstract: This paper proposes a sliding‐mode control (SMC) method to achieve practical cooperative consensus tracking for a network of multiple nonholonomic wheeled mobile robots (MNWMRs) with input disturbances. A novel SMC surface under the nonholonomic constraints… read more here.
Keywords: wheeled mobile; consensus tracking; consensus; nonholonomic wheeled ... See more keywords
Experimental Evaluation of Certain Pursuit and Evasion Schemes for Wheeled Mobile Robots
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Automation and Computing"
DOI: 10.1007/s11633-018-1151-x
Abstract: Pursuit-evasion games involving mobile robots provide an excellent platform to analyze the performance of pursuit and evasion strategies. Pursuit-evasion has received considerable attention from researchers in the past few decades due to its application to… read more here.
Keywords: performance; wheeled mobile; evasion; pursuit ... See more keywords
The Effect of Remote Center Compliance Parameters on Formation Control of Cooperative Wheeled Mobile Robots for Object Manipulation
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-016-0604-7
Abstract: Formation control is a potential advanced technology for aircrafts, spacecrafts and space robots. This paper, for the first time, studies several methods of passive and semi-active Remote Center Compliance (RCC) in order to examine their… read more here.
Keywords: center compliance; formation control; control; remote center ... See more keywords
Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots with External Disturbances and Parameter Uncertainties
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-019-0643-y
Abstract: Aiming at the trajectory tracking problem of nonholonomic wheeled mobile robots (WMR) with bounded external disturbances and parameter uncertainties, a dual-loop attitude tracking robust controller is proposed for WMR. Firstly, a kinematic controller is designed… read more here.
Keywords: nonholonomic wheeled; control; trajectory tracking; wheeled mobile ... See more keywords
Engineering Education in Wheeled Mobile Robotics
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DOI: 10.1016/j.ifacol.2017.08.2149
Abstract: Abstract This work describes educational approaches in the field of wheeled mobile robotics. On the case of an engineering course in masters study programme, we present how the course has evolved in the past few… read more here.
Keywords: mobile robotics; robotics; course; wheeled mobile ... See more keywords
Trajectory Planning For Autonomous Wheeled Mobile Robots With Trailer
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DOI: 10.1016/j.ifacol.2020.12.2657
Abstract: Abstract This paper presents a dynamic optimization scheme for generating trajectory planning for autonomous wheeled mobile robots with tractor designed to accomplish missions in indoor environments. Such an optimization criterion problem requires a method that… read more here.
Keywords: autonomous wheeled; planning autonomous; trajectory planning; wheeled mobile ... See more keywords
Neural adaptive output feedback formation control of type ( m , s ) wheeled mobile robots
Sign Up to like & getrecommendations! Published in 2017 at "Iet Control Theory and Applications"
DOI: 10.1049/iet-cta.2016.0952
Abstract: This study introduces a general framework for the formation tracking control of all types of wheeled mobile robots (WMRs). On the basis of a coordinate transformation, a second-order input-output model is developed for the general… read more here.
Keywords: formation control; control; formation; output ... See more keywords
Consensus Control for Wheeled Mobile Robots Under Input Saturation Constraint
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DOI: 10.1109/access.2020.3025623
Abstract: In this article, the consensus control problem for the nonholonomic wheeled mobile robots under the input saturation constraint is addressed. The specified-time observer is designed to estimate the root node’s linear speed and angular speed… read more here.
Keywords: consensus control; wheeled mobile; input saturation; mobile robots ... See more keywords
A Hybrid Tracking Control Strategy for Nonholonomic Wheeled Mobile Robot Incorporating Deep Reinforcement Learning Approach
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Access"
DOI: 10.1109/access.2021.3053396
Abstract: Tracking control is an essential capability for nonholonomic wheeled mobile robots (NWMR) to achieve autonomous navigation. This paper presents a novel hybrid control strategy combined mode-based control and actor-critic based deep reinforcement learning method. Based… read more here.
Keywords: control; nonholonomic wheeled; tracking control; wheeled mobile ... See more keywords
Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3169766
Abstract: When a mobile manipulator’s wheel loses contact with the ground, the manipulator may overturn, causing material damage, and in the worst case, putting human lives in danger. The overturning stability of wheeled mobile manipulators must… read more here.
Keywords: supporting forces; manipulator; mobile manipulator; overturning stability ... See more keywords