Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

Four-wheel redundantly-actuated mobile robot (FRMR) offers high controllability and maneuverability for automation applications. However, the robot dynamics and actuator failures are normally omitted in existing kinematic control schemes, which may lead to steering vibration and degraded robustness....

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Autori principali:	Xiaolong Zhang, Yuanlong Xie, Liquan Jiang, Gen Li, Jie Meng, Yu Huang
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	IEEE 2019-01-01
Serie:	IEEE Access
Soggetti:	Fault-tolerant dynamic control four-wheel redundantly-actuated mobile robot fractional-order sliding mode control wheel-ground interactions
Accesso online:	https://ieeexplore.ieee.org/document/8884120/
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