Active Disturbance Rejection Control for Wheeled Mobile Robots with Parametric Uncertainties

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

Fault Detection for Wheeled Mobile Robots with Parametric Uncertainty∗

In this paper, we develop a new method for Wheeled Mobile Robot (WMR) fault detection. Specifically, we develop kinematic and dynamic models of the WMR in the presence of faults such as a change in the wheel radius (e.g., deformation, broken spoke, flat tire) or general kinematic disturbances that model slipping or skidding faults. Utilizing the WMR models, we employ a torque filtering techniqu...

Fuzzy Active Disturbance Rejection Attitude Control of Spacecraft with Unknown Disturbance and Parametric Uncertainty

Based on active disturbance rejection control (ADRC) and fuzzy logic control, a control scheme for attitude maneuver control of spacecraft is proposed. In which a maneuver path is planned to reduce overshoot and improve rapidity, and an extended state observer is designed to cope with unknown disturbances and parameter uncertainties. Furthermore, in order to improve dynamic performance of the c...

Stable Switching Control of Wheeled Mobile Robots

Kinematic Control of Wheeled Mobile Robots

−− A generic kinematic control, which is directly applicable to any type of wheeled mobile robot, is proposed in this work. Firstly, it is presented the kinematic models of the four common types of wheels (fixed, centered orientable, castor and Swedish) a classification of wheeled mobile robots. Afterwards, it is proposed a kinematic control scheme with three nested loops: dynamic, kinematic an...