Trajectory Control of Wheeled Mobile Robot on Shaking Environments

@article{Mizuno2018TrajectoryCO,
  title={Trajectory Control of Wheeled Mobile Robot on Shaking Environments},
  author={N. Mizuno and Y. Sueyoshi},
  journal={IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society},
  year={2018},
  pages={2463-2468}
}
Control of wheeled mobile robot has been studied extensively in recent years. However, control of wheeled mobile robot on shaking environments has not been studied so far. In this situation, this paper proposes a new control system for trajectory control of mobile robot which frequently accelerates and decelerates on shaking environments. To achieve the accurate control under disturbances, we adopt a model reference adaptive control approach which utilizes the internal model principle in order… CONTINUE READING

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