Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat

Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat

Abstract This paper proposes a wheeled mobile robot (WMR) robust control scheme. The feasible strategy is developed to achieve an efficient and robust autonomous mobile robot motion. To realize kinematic autonomous planning and control of the WMR, a novel controller is designed based on control Lyap...

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Bibliographic Details
Main Authors: Yueyue Liu, Keqiang Bai, Haoyu Wang, Qigao Fan
Format: Article
Language:English
Published: Wiley 2023-11-01
Series:IET Control Theory & Applications
Subjects:
differential flatness‐based
quadratic programming
robust control Lyapunov function
slippage disturbance
wheeled mobile robot
Online Access:https://doi.org/10.1049/cth2.12490

Internet

https://doi.org/10.1049/cth2.12490

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