Output Feedback Tracking Control of Wheeled Mobile Robots with Kinematic Disturbances
نویسندگان
چکیده
منابع مشابه
Robust Torque Control of Wheeled Mobile Robots with Kinematic Disturbances
تابر مواقم لرتنك هلاقم نيا رد ينيعمان و يجراخ تاشاشتغا دوجو اب رايس ياه متسيس يرتماراپ ياه كيمونولوهريغ يكيتامنيس ديق هك يكيمانيد ١ ار شزغل مدع هدروآرب يمن تسا هتفرگ رارق يسررب دروم ،دننك . هدش زكرمتم يكيتامنيس لرتنك يحارط يور رب هك يلبق ياهراك فلاخرب ساسا رب رواتشگ مواقم رلرتنك كي ،دنا هب ،ميظنت لباق ناسون سناكرف اب اريم كيمانيد رگناسون هناگي شور كي تروص ٢ يبايدر هلأسم ود ره يارب ابر يزا...
متن کاملKinematic 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...
متن کاملKinematic Model of Wheeled Mobile Robots
This paper deals with the structure of the kinematic models of wheeled mobile robots (WMR). A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels. In this paper it is shown that, for a large class of possible configurations of wheels, five types of configurations can be done namely i) fixed standard wheels, ii) steerable standard wheels, iii) ...
متن کاملKinematic modeling of wheeled mobile robots
We formulate the kinematic equations-of-motion of wheeled mobile robots incorporating conuentionaI, omnidirectional, and ball wheels. While our approach parallels the kinematic modeling of stationary manipulators, we extend the methodology to accommodate such special characteristics of wheeled mobile robots as multiple closed-link chains, higher-pair contact points between a wheel and a surface...
متن کاملVelocity Kinematic Modeling for Wheeled Mobile Robots
This paper presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pairs of WMRs including wheeled pairs which were dealt with ad-hoc manners in the previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs, even though there exists 2 DOF...
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ژورنال
عنوان ژورنال: The Transactions of The Korean Institute of Electrical Engineers
سال: 2016
ISSN: 1975-8359
DOI: 10.5370/kiee.2016.65.12.2053