This paper investigates a trajectory tracking control strategy for an Ackerman-steering four-wheeled mobile robot (WMR) with front-wheel steering and rear-wheel drive. When the WMR is driving on a bank road, the overshoot significantly increases during the initial tracking phase, leading to reduced tracking performance. A nonlinear extended state observer based on a radial basis function neural network (RBFNN-NESO) has been proposed to estimate disturbances in the WMR and reduce initial overshoot, thereby improving estimation accuracy. Then an error feedback control method is employed to propose a finite-time nonlinear controller, which ensures the convergence of velocity and position errors. Finally, experimental results are provided to demonstrate the effectiveness of the proposed WMR controller.
Trajectory Tracking Control for Wheel Mobile Robots on Bank Road
2024-10-25
3059798 byte
Conference paper
Electronic Resource
English
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