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This paper presents control methods and simulation experiments of wheeled skid-steering mobile robot trajectory tracking on the rough terrain. According to dynamics analysis of the robot, a motion constraint of the robot is put forward. To address the issue of uncertain disturbance factors during the robot running on the rough terrain, a practical fuzzy lateral control law is presented, and the globally...
Not so much had been talked about equilibrium in control area. On the basis of the phenomenon of balance, the concept of control-equilibrium and control-equilibrium of a control system is proposed. According to this theory, a perfect control method should not only guarantee stability of the system, but also ensure the control-equilibrium of the system. To achieve the control-equilibrium, feed-forward...
Autonomous steering control of wheeled skid-steer mobile robot is focused on. According to dynamic analysis on the robot motion, kinematic constrains of the robot motion is put forward. As uncertain control factors exist during the robot running state, a novel fuzzy control algorithm is proposed. Based on ATRV2 mobile robot and its running environment information, using random number sequence, power...
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