期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 14, 期 4, 页码 1055-1062出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-015-0095-y
关键词
Alternative identification; robust tracking control; skidding; slipping; uncertainty
资金
- Transportation & Logistics Research Program - Ministry of Land, Infrastructure and Transport of Korean government [79281]
This paper proposes the new identification of dynamics for Type(2,0) wheeled mobile robots(WMRs) in the presence of wheel skidding and slipping. This paper presents dynamics models that explicitly relate perturbations to the vehicle skidding and slipping. They cause parameter uncertainties, input-additive, matched and unmatched perturbations of WMRs. To solve the problem, this paper determines the new identification of dynamics for WMRs with skidding and slipping. The proposed dynamics lay a base for the deployments of various control design techniques to overcome the addressed perturbations. Finally, this paper verifies the tracking performance of the proposed feedback linearization controller for simulation results.
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