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- W2890109319 endingPage "1752" @default.
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- W2890109319 abstract "Four-wheel independently driven mobile robots are widely used in industrial automation, intelligent inspection, and outdoor exploration. The traditional kinematic control is usually applied for them, where only the chassis kinematics is taken into account and the robot dynamics (especially the wheel dynamics) is normally ignored. It may lead to some performance limitations such as the chattering phenomenon during robot rotating, because of the overactuation characteristic by four driving wheels. To address these problems, the integrated dynamic model is proposed, which includes chassis kinematics, chassis dynamics, wheel-ground interaction, and wheel dynamics. Subsequently, different from kinematic control, a model-based coordinated adaptive robust controller is developed, which generally consists of three-level designs for different parts of robot dynamics, and directly generates the motor driving torque commands for four wheels. The stability and tracking performance are theoretically guaranteed. Comparative experiments are carried out, and the results show the better performance of our proposed scheme." @default.
- W2890109319 created "2018-09-27" @default.
- W2890109319 creator A5030317245 @default.
- W2890109319 creator A5032769690 @default.
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- W2890109319 date "2019-03-01" @default.
- W2890109319 modified "2023-10-10" @default.
- W2890109319 title "Model-Based Coordinated Control of Four-Wheel Independently Driven Skid Steer Mobile Robot with Wheel–Ground Interaction and Wheel Dynamics" @default.
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- W2890109319 doi "https://doi.org/10.1109/tii.2018.2869573" @default.
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