Motion/force coordinated trajectory tracking control of nonholonomic wheeled mobile robot via LMPC-AISMC strategy

Abstract Nonholonomic constrained wheeled mobile robot (WMR) trajectory tracking requires the enhancement of the ground adaptation capability of the WMR while ensuring its attitude tracking accuracy, a novel dual closed-loop control structure is developed to implement this motion/force coordinated c...

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Autori principali:	Minan Tang, Kunxi Tang, Yaqi Zhang, Jiandong Qiu, Xiaowei Chen
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	Nature Portfolio 2024-08-01
Serie:	Scientific Reports
Soggetti:	Wheeled mobile robot Dual closed-loop Model predictive control Integral sliding mode control Extended state observer
Accesso online:	https://doi.org/10.1038/s41598-024-68757-1
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