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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(More)
This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid‐Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is(More)
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