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.


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    Title :

    Trajectory Tracking Control for Wheel Mobile Robots on Bank Road


    Contributors:
    Yin, Xuze (author) / Li, Li (author) / Geng, Qing (author) / Li, Shuo (author)


    Publication date :

    2024-10-25


    Size :

    3059798 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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