Slip ratio estimation and control of wheeled mobile robot on different terrains

2015 ◽  
Author(s):  
Maral Partovibakhsh ◽  
Guangjun Liu
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Ratio Estimation ◽  
Slip Ratio ◽  
Estimation And Control ◽  
And Control

Center of gravity estimation and control for a field mobile robot with a heavy manipulator

2009 ◽  
Author(s):  
Jesus Morales ◽  
Jorge L. Martinez ◽  
Anthony Mandow ◽  
Javier Seron ◽  
Alfonso Garcia-Cerezo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Center Of Gravity ◽  
Estimation And Control ◽  
And Control ◽  
Gravity Estimation

Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

2008 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Differential Flatness ◽  
Robust Controllers ◽  
Robust Controller ◽  
Planning And Control ◽  
Tracking Controllers ◽  
Simulation Results ◽  
And Control

In this paper, we present two robust trajectory-tracking controllers for a differentially driven two-wheeled mobile robot using its kinematic and dynamic model in the presence of slip. The structure of the differential flatness-based controller, which is an integrated framework for planning and control, is extended in this paper to account for slip disturbances by adding a corrective control term. Simulation results for both kinematic and dynamic controllers are presented to demonstrate the effectiveness of the robust controllers. Experiments with the kinematic controller were conducted to validate the performance of the robust controller. The simulation and experimental results show that the robust controllers are very effective in the presence of slip.

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