Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot
Four-wheel redundantly-actuated mobile robot (FRMR) offers high controllability and maneuverability for automation applications. However, the robot dynamics and actuator failures are normally omitted in existing kinematic control schemes, which may lead to steering vibration and degraded robustness....
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8884120/ |