Matches in SemOpenAlex for { <https://semopenalex.org/work/W2885153417> ?p ?o ?g. }
- W2885153417 endingPage "1570" @default.
- W2885153417 startingPage "1551" @default.
- W2885153417 abstract "SUMMARY This study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers." @default.
- W2885153417 created "2018-08-22" @default.
- W2885153417 creator A5015923228 @default.
- W2885153417 creator A5063712160 @default.
- W2885153417 date "2018-08-01" @default.
- W2885153417 modified "2023-09-25" @default.
- W2885153417 title "Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches" @default.
- W2885153417 cites W145212331 @default.
- W2885153417 cites W1642760669 @default.
- W2885153417 cites W1972123890 @default.
- W2885153417 cites W1976754515 @default.
- W2885153417 cites W1977114004 @default.
- W2885153417 cites W1977277930 @default.
- W2885153417 cites W1984116984 @default.
- W2885153417 cites W1991686554 @default.
- W2885153417 cites W1995423815 @default.
- W2885153417 cites W2003248131 @default.
- W2885153417 cites W2004889541 @default.
- W2885153417 cites W2004998664 @default.
- W2885153417 cites W2006079710 @default.
- W2885153417 cites W2009261347 @default.
- W2885153417 cites W2013594580 @default.
- W2885153417 cites W2016253636 @default.
- W2885153417 cites W2022891501 @default.
- W2885153417 cites W2023218087 @default.
- W2885153417 cites W2047065855 @default.
- W2885153417 cites W2047739722 @default.
- W2885153417 cites W2056610028 @default.
- W2885153417 cites W2060277269 @default.
- W2885153417 cites W2068255599 @default.
- W2885153417 cites W2070742212 @default.
- W2885153417 cites W2081242007 @default.
- W2885153417 cites W2120932933 @default.
- W2885153417 cites W2122561468 @default.
- W2885153417 cites W2132391997 @default.
- W2885153417 cites W2133661758 @default.
- W2885153417 cites W2134893614 @default.
- W2885153417 cites W2138103143 @default.
- W2885153417 cites W2139232209 @default.
- W2885153417 cites W2141429008 @default.
- W2885153417 cites W2148319451 @default.
- W2885153417 cites W2149056111 @default.
- W2885153417 cites W2159517219 @default.
- W2885153417 cites W2163741929 @default.
- W2885153417 cites W2167204560 @default.
- W2885153417 cites W2298546714 @default.
- W2885153417 cites W2565210018 @default.
- W2885153417 cites W2753540677 @default.
- W2885153417 cites W2764194394 @default.
- W2885153417 doi "https://doi.org/10.1017/s0263574718000565" @default.
- W2885153417 hasPublicationYear "2018" @default.
- W2885153417 type Work @default.
- W2885153417 sameAs 2885153417 @default.
- W2885153417 citedByCount "21" @default.
- W2885153417 countsByYear W28851534172019 @default.
- W2885153417 countsByYear W28851534172020 @default.
- W2885153417 countsByYear W28851534172021 @default.
- W2885153417 countsByYear W28851534172022 @default.
- W2885153417 countsByYear W28851534172023 @default.
- W2885153417 crossrefType "journal-article" @default.
- W2885153417 hasAuthorship W2885153417A5015923228 @default.
- W2885153417 hasAuthorship W2885153417A5063712160 @default.
- W2885153417 hasConcept C121332964 @default.
- W2885153417 hasConcept C1276947 @default.
- W2885153417 hasConcept C13662910 @default.
- W2885153417 hasConcept C154945302 @default.
- W2885153417 hasConcept C15744967 @default.
- W2885153417 hasConcept C172205157 @default.
- W2885153417 hasConcept C19417346 @default.
- W2885153417 hasConcept C19966478 @default.
- W2885153417 hasConcept C203479927 @default.
- W2885153417 hasConcept C2775924081 @default.
- W2885153417 hasConcept C2775936607 @default.
- W2885153417 hasConcept C33923547 @default.
- W2885153417 hasConcept C39920418 @default.
- W2885153417 hasConcept C41008148 @default.
- W2885153417 hasConcept C47446073 @default.
- W2885153417 hasConcept C6557445 @default.
- W2885153417 hasConcept C74650414 @default.
- W2885153417 hasConcept C86803240 @default.
- W2885153417 hasConcept C90509273 @default.
- W2885153417 hasConceptScore W2885153417C121332964 @default.
- W2885153417 hasConceptScore W2885153417C1276947 @default.
- W2885153417 hasConceptScore W2885153417C13662910 @default.
- W2885153417 hasConceptScore W2885153417C154945302 @default.
- W2885153417 hasConceptScore W2885153417C15744967 @default.
- W2885153417 hasConceptScore W2885153417C172205157 @default.
- W2885153417 hasConceptScore W2885153417C19417346 @default.
- W2885153417 hasConceptScore W2885153417C19966478 @default.
- W2885153417 hasConceptScore W2885153417C203479927 @default.
- W2885153417 hasConceptScore W2885153417C2775924081 @default.
- W2885153417 hasConceptScore W2885153417C2775936607 @default.
- W2885153417 hasConceptScore W2885153417C33923547 @default.
- W2885153417 hasConceptScore W2885153417C39920418 @default.
- W2885153417 hasConceptScore W2885153417C41008148 @default.
- W2885153417 hasConceptScore W2885153417C47446073 @default.
- W2885153417 hasConceptScore W2885153417C6557445 @default.
- W2885153417 hasConceptScore W2885153417C74650414 @default.