Control Allocation for Wheeled Mobile Robots Subject to Input Saturation

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 ...

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...

Modeling and Control of Wheeled Mobile Robots

The accurate model-based servo-control of wheeled mobile robots (WMRs) relies upon the formulation of realistic kinematic and dynamic models. We* identify six special WMR characteristics (closed-chains, hig her-pair joints, unactuated and unsensed joints, friction, and pulse-width modulation) that require methodologies for modeling and control beyond those conventionally applied to stationary m...

Nonlinear Control Of Wheeled Mobile Robots