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This paper presents a backstepping sliding-mode motion control method for trajectory tracking and stabilization of a self-balancing two-wheeled robot (SBTWR). A decoupling method is proposed to decouple the robot's dynamic model such that the motion controller can be synthesized in both kinematic and dynamic levels. In the kinematic level, two virtual controls for trajectory tracking and stabilization...
In this paper, motion control and stabilization of a 4-wheel skid-steering mobile robot (4WSSMR) are studied. A ratio controller which has been successfully applied in the chemical industry is designed to limit the vehicle lateral skid. Motion stability is guaranteed by generating an appropriate steering action (driving bias in left and right wheels) according to the states of the vehicle. A model...
We present a methodology to steer the end effector of a robotic manipulator, which is constrained in terms of joint rates, on the surface within the workspace, to perform surface tasks. We develop smooth controllers for stabilizing the end effector to a point, and for tracking a trajectory on this surface, while respecting the input constraints, and the same time applying a specific force on it. We...
This paper develops methodologies and techniques for motion control and autonomous navigation of a tour-guide robot with a four-wheeled omni-directional mobile platform. A nonlinear unified kinematical control method is presented for point stabilization and trajectory tracking of a mobile robot which equipped with four independent driving omni-directional wheels equally spaced at 90 degrees between...
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