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| Content Provider | IET Digital Library |
|---|---|
| Author | Yang, Hongjiu Wang, Shizhan Zuo, Zhiqiang Li, Peng |
| Abstract | In this study, trajectory tracking control is investigated based on a double closed-loop strategy for a wheeled mobile robot with an omnidirectional wheel on uneven ground. The omnidirectional wheel is used to make the wheeled mobile robot turn smoothly, however, external disturbances are caused when the wheeled mobile robot goes straight. Moreover, the external disturbances also come from uneven ground for the wheeled mobile robot. An extended state observer with a time-varying gain is designed to estimate the external disturbances in an inner loop of the double closed-loop strategy. Then a torque control law for integral sliding mode control is given to track desired velocities. In an outer loop, a kinematic controller is designed to generate the desired velocities. Experimental results are given to show the effectiveness and superiority of the double closed-loop strategy for the wheeled mobile robot. |
| Starting Page | 921 |
| Ending Page | 929 |
| Page Count | 9 |
| ISSN | 17518644 |
| Volume Number | 14 |
| e-ISSN | 17518652 |
| Issue Number | Issue 7, Apr (2020) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-cta/14/7 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2019.1074 |
| Journal | IET Control Theory & Applications |
| Publisher Date | 2020-01-06 |
| Access Restriction | Open |
| Rights Holder | © The Institution of Engineering and Technology |
| Subject Keyword | Closed Loop System Double Closed-loop Strategy Extended State Observer Integral Sliding Mode Control Kinematic Controller Mechanical Variables Control Mobile Robots Modelling And Identification Multivariable Control System Observers Omnidirectional Wheel Robot And Manipulator Mechanics Robot Kinematics Simulation Time Varying Control System Time Varying System Time-varying Gain Torque Control Torque Control Law Trajectory Control Trajectory Tracking Control Uneven Ground Variable Structure System Wheeled Mobile Robot |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications |
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