Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

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....

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Bibliographic Details
Main Authors: Xiaolong Zhang, Yuanlong Xie, Liquan Jiang, Gen Li, Jie Meng, Yu Huang
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Fault-tolerant dynamic control
four-wheel redundantly-actuated mobile robot
fractional-order sliding mode control
wheel-ground interactions
Online Access:https://ieeexplore.ieee.org/document/8884120/

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