Related papers: Mathematical model of a remotely controlled skid-s…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
In the paper, a mathematical model assembling a "driver - mobile vehicle - road environment" system and capable of simulating the process of mobile vehicles skid in traction movement mode is proposed. The usage of non-linear drift models…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
The wheeled three-link snake robot is a well-known example of an underactuated system modelled using nonholonomic constraints, preventing lateral slippage (skid) of the wheels. A kinematically controlled configuration assumes that both…
Consider the question of building a system of commands remotely controlled robot that can perform motion stabilization in the presence of a constant delay of the control signal.
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot's heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accurate modeling of heavy-duty machinery very challenging…
While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG representation of the system is proposed and the accompanying…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction…
In this paper we present a method of discrete modeling and analysis of multi-level dynamics of complex large-scale hierarchical dynamic systems subject to external dynamic control mechanism. In a model each state describes parallel dynamics…