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This paper presents the problem of trajectory tracking control for the nonholonomic six-wheeled mobile robot. Based on backstepping control algorithm, a switch function for quasi-sliding mode control is designed and a quasi-sliding mode controller with global asymptotically stability is proposed for the kinematic model. This method simplifies the controller design and is applicable to the trajectory...
In future planetary exploration missions, the lunar rovers will be working in the incompletely known and uncultured environment, wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper an on-line estimation method that identifies wheel-ground contact angle and wheel slip from trajectory data using an extended Kalman filter is firstly presented. Secondly, the use of...
Wheel-ground contact angle and wheel slip estimation of a skid-steered mobile robot is challenging because of the complex wheel/ground ie estimation interactions and kinematics constraints. Real time estimation of these parameters is essential in achieving precise, robust autonomous guidance and control of the mobile robot. In this paper, we present a discrete KF-based on wheel-ground contact angle...
The component synthesis active vibration suppression method (CSVS) can be applied to suppress the vibration of flexible systems. By this method, several same or similar time-varying components are arranged according to certain rules along the time axis. The syn-thesized command can suppress the arbitrary unwanted vibration harmonic while achieving the desired rigid body motion. The number of the components...
The vibration of flexible systems can be restrained by using of the component synthesis active vibration suppression method (CSVS). While the number of flexible vibrations increases, the number of the components increases, rapidly. In this paper on the basis of CSVC method, a zero-placement technique is applied for construction of component forces to suppress multi-harmonics, simultaneously. The nature...
The structural vibration of flexible systems can be reduced using the component synthesis vibration suppression method (CSVS), but the vibration caused by exterior disturb can not be reduced. This paper studies the problem of concurrent design of the CSVS method and feedback control based on proportion and velocity feedback controller for optimizing system performances. For a flexible single beam...
As the foundation of motion control, driving dynamics equations with velocity and geometric constrains are given firstly. A method to increase tractive ability and the concept of the corresponding lunar rover chassis are proposed. The simulation results are given to express the effectiveness of increasing tractive ability. A control method was suggested which combined drive and guidance system to...
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