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General information |
| Author |
Kang, Hyo-Seok; Kim, Yong-Tae; Hyun, Chang-Ho; Park, Mignon |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper proposes a robust tracking controller
based on a Generalized Extended State Observer (GESO)
method for a wheeled mobile robot (WMR) with unknown
skidding and slipping. Skidding and slipping of a WMR are
inevitable in practice. We regard skidding and slipping as
disturbances and modify the dynamics model to consider
them simply. Then, we adopt the GESO to design a robust
tracking controller at kinematic and dynamic level. Using
Lyapunov theory, we derive the control law and guarantee
the stability of the control system. The proposed control
achieves attenuation of the disturbance and convergence of
the tracking errors. The performance of the proposed
method is verified by some simulation results. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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