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- W2392940723 abstract "Due to the slip phenomenon,it is impossible to build the accurate model of track robot.Focusing on this problem,a slip parameters estimation method was provided to improve the track model.First,the track robot and terrain interaction dynamic model was analyzed,and the kinematic mode was also established.Then a Lyapunov stable sliding mode observer for slip parameters was designed based on the kinematic model.Moreover,the gain of the observer was optimized through the non-dominant sort particle swarm optimization(NSPSO) in order to acquire more precise results.Simulation experiment verifies that this method is effective and also prepares for the trajectory control later." @default.
- W2392940723 created "2016-06-24" @default.
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- W2392940723 date "2013-01-01" @default.
- W2392940723 modified "2023-09-26" @default.
- W2392940723 title "Slip estimation method of track robot" @default.
- W2392940723 hasPublicationYear "2013" @default.
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