In this paper, a new robust trajectory tracking control scheme for wheeled mobile robots without velocity measurement is proposed. In the proposed controller, the velocity observer is used to estimate the velocity of wheeled mobile robot. The dynamics of wheeled mobile robot is considered to develop the controller. The proposed controller has the following features: i) The proposed controller has good robustness performance; ii) It is easy to improve tracking performance by setting only one design parameters.
Wheeled Mobile Robot Tracking Control without Velocity Measurement
Applied Mechanics and Materials ; 373-375 ; 231-237
2013-08-30
7 pages
Article (Journal)
Electronic Resource
English
Velocity control of mobile wheeled inverted pendulum
Automotive engineering | 2013
|Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot
BASE | 2021
|