Matches in SemOpenAlex for { <https://semopenalex.org/work/W4384662512> ?p ?o ?g. }
- W4384662512 abstract "Abstract This paper proposes a wheeled mobile robot (WMR) robust control scheme. The feasible strategy is developed to achieve an efficient and robust autonomous mobile robot motion. To realize kinematic autonomous planning and control of the WMR, a novel controller is designed based on control Lyapunov function. This part can be divided into the following two aspects: 1) considering the nonholonomic constraints in the autonomous mobile robot trajectory tracking, a dynamic feedback‐linearization is adopted by utilizing differential flatness‐based integrated control framework to achieve full‐state controllability; 2) to compensate the structured uncertainties and slippage disturbances related to the robot kinematic model, a robust controller is designed based on control Lyapunov function with quadratic programming. Such a strategy can achieve autonomous motion even with unknown slippage disturbances subject to various constraints. Moreover, the sufficient condition is also analyzed to ensure the WMR system exponential stability. The effectiveness and performance of the proposed method are verified by numerical simulation." @default.
- W4384662512 created "2023-07-20" @default.
- W4384662512 creator A5067390667 @default.
- W4384662512 creator A5067570412 @default.
- W4384662512 creator A5068057416 @default.
- W4384662512 creator A5077688826 @default.
- W4384662512 date "2023-07-17" @default.
- W4384662512 modified "2023-10-12" @default.
- W4384662512 title "Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat" @default.
- W4384662512 cites W2101524991 @default.
- W4384662512 cites W2111908311 @default.
- W4384662512 cites W2117402460 @default.
- W4384662512 cites W2139711799 @default.
- W4384662512 cites W2143217500 @default.
- W4384662512 cites W2171879251 @default.
- W4384662512 cites W2190016588 @default.
- W4384662512 cites W2283492721 @default.
- W4384662512 cites W2536439700 @default.
- W4384662512 cites W2592597155 @default.
- W4384662512 cites W3010316168 @default.
- W4384662512 cites W3014528623 @default.
- W4384662512 cites W3033921396 @default.
- W4384662512 cites W3036168343 @default.
- W4384662512 cites W3042867920 @default.
- W4384662512 cites W3082324969 @default.
- W4384662512 cites W3107699934 @default.
- W4384662512 cites W3125055412 @default.
- W4384662512 cites W3128216365 @default.
- W4384662512 cites W3130389452 @default.
- W4384662512 cites W3132696407 @default.
- W4384662512 cites W3135773518 @default.
- W4384662512 cites W3156100009 @default.
- W4384662512 cites W3189389042 @default.
- W4384662512 cites W4200395153 @default.
- W4384662512 cites W4212972352 @default.
- W4384662512 cites W4220840735 @default.
- W4384662512 cites W4225552282 @default.
- W4384662512 cites W4225763870 @default.
- W4384662512 cites W4285102506 @default.
- W4384662512 cites W4292183348 @default.
- W4384662512 cites W48920821 @default.
- W4384662512 doi "https://doi.org/10.1049/cth2.12490" @default.
- W4384662512 hasPublicationYear "2023" @default.
- W4384662512 type Work @default.
- W4384662512 citedByCount "0" @default.
- W4384662512 crossrefType "journal-article" @default.
- W4384662512 hasAuthorship W4384662512A5067390667 @default.
- W4384662512 hasAuthorship W4384662512A5067570412 @default.
- W4384662512 hasAuthorship W4384662512A5068057416 @default.
- W4384662512 hasAuthorship W4384662512A5077688826 @default.
- W4384662512 hasBestOaLocation W43846625121 @default.
- W4384662512 hasConcept C119599485 @default.
- W4384662512 hasConcept C121332964 @default.
- W4384662512 hasConcept C127413603 @default.
- W4384662512 hasConcept C133731056 @default.
- W4384662512 hasConcept C138632511 @default.
- W4384662512 hasConcept C154945302 @default.
- W4384662512 hasConcept C158622935 @default.
- W4384662512 hasConcept C17500928 @default.
- W4384662512 hasConcept C19966478 @default.
- W4384662512 hasConcept C203479927 @default.
- W4384662512 hasConcept C2775924081 @default.
- W4384662512 hasConcept C28826006 @default.
- W4384662512 hasConcept C31531917 @default.
- W4384662512 hasConcept C33923547 @default.
- W4384662512 hasConcept C39920418 @default.
- W4384662512 hasConcept C41008148 @default.
- W4384662512 hasConcept C47446073 @default.
- W4384662512 hasConcept C48209547 @default.
- W4384662512 hasConcept C60640748 @default.
- W4384662512 hasConcept C62520636 @default.
- W4384662512 hasConcept C6557445 @default.
- W4384662512 hasConcept C74650414 @default.
- W4384662512 hasConcept C81074085 @default.
- W4384662512 hasConcept C86803240 @default.
- W4384662512 hasConcept C90509273 @default.
- W4384662512 hasConceptScore W4384662512C119599485 @default.
- W4384662512 hasConceptScore W4384662512C121332964 @default.
- W4384662512 hasConceptScore W4384662512C127413603 @default.
- W4384662512 hasConceptScore W4384662512C133731056 @default.
- W4384662512 hasConceptScore W4384662512C138632511 @default.
- W4384662512 hasConceptScore W4384662512C154945302 @default.
- W4384662512 hasConceptScore W4384662512C158622935 @default.
- W4384662512 hasConceptScore W4384662512C17500928 @default.
- W4384662512 hasConceptScore W4384662512C19966478 @default.
- W4384662512 hasConceptScore W4384662512C203479927 @default.
- W4384662512 hasConceptScore W4384662512C2775924081 @default.
- W4384662512 hasConceptScore W4384662512C28826006 @default.
- W4384662512 hasConceptScore W4384662512C31531917 @default.
- W4384662512 hasConceptScore W4384662512C33923547 @default.
- W4384662512 hasConceptScore W4384662512C39920418 @default.
- W4384662512 hasConceptScore W4384662512C41008148 @default.
- W4384662512 hasConceptScore W4384662512C47446073 @default.
- W4384662512 hasConceptScore W4384662512C48209547 @default.
- W4384662512 hasConceptScore W4384662512C60640748 @default.
- W4384662512 hasConceptScore W4384662512C62520636 @default.
- W4384662512 hasConceptScore W4384662512C6557445 @default.
- W4384662512 hasConceptScore W4384662512C74650414 @default.
- W4384662512 hasConceptScore W4384662512C81074085 @default.
- W4384662512 hasConceptScore W4384662512C86803240 @default.