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Trajectory tracking for a wheeled mobile robot with an omnidirectional wheel on uneven ground - MaRDI portal

Trajectory tracking for a wheeled mobile robot with an omnidirectional wheel on uneven ground

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DOI10.1049/iet-cta.2019.1074zbMath1544.93573MaRDI QIDQ6598856

Unnamed Author, Shizhan Wang, Hongjiu Yang, Zhiqiang Zuo

Publication date: 5 September 2024

Published in: IET Control Theory \& Applications (Search for Journal in Brave)

zbMATH Keywords

wheeled mobile robot time-varying systems observers variable structure systems mobile robots time-varying gain integral sliding mode control torque control extended state observer trajectory tracking control kinematic controller closed loop systems robot kinematics trajectory control double closed-loop strategy omnidirectional wheel torque control law uneven ground

Mathematics Subject Classification ID

Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

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