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This paper proposes a control method for locomotion mode transformation of a mobile robot with wheel-arms. The proposed method aims at transformation from a four-wheeled mode for high-speed mobility to an inverted pendulum mode, which has advantages of high viewing position and small turning radius. Since the initial state of the system is far away from the target equilibrium point of the wheeled...
In this paper the problem of planar curved path following using fixed-wing unmanned aerial vehicles (UAVs) is studied. UAV input constraints and constant wind disturbance are considered. A combined vector field is proposed by trading off a conservative vector field and a solenoidal vector field. Accordingly a saturated course rate controller is designed, and its stability is discussed through the...
This paper presents a shape transformation control method of a mobile robot with wheel-arms. The proposed method aims at transformation from a four-wheeled mode for high speed mobility to an inverted pendulum mode, which has advantages of high viewing position and small turning radius. The transformation starts with lifting up the wheel-arms to raise the center of gravity of the whole body. From such...
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