This paper investigates a trajectory tracking control strategy for an Ackerman-steering four-wheeled mobile robot (WMR) with front-wheel steering and rear-wheel drive. When the WMR is driving on a bank road, the overshoot significantly increases during the initial tracking phase, leading to reduced tracking performance. A nonlinear extended state observer based on a radial basis function neural network (RBFNN-NESO) has been proposed to estimate disturbances in the WMR and reduce initial overshoot, thereby improving estimation accuracy. Then an error feedback control method is employed to propose a finite-time nonlinear controller, which ensures the convergence of velocity and position errors. Finally, experimental results are provided to demonstrate the effectiveness of the proposed WMR controller.


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    Titel :

    Trajectory Tracking Control for Wheel Mobile Robots on Bank Road


    Beteiligte:
    Yin, Xuze (Autor:in) / Li, Li (Autor:in) / Geng, Qing (Autor:in) / Li, Shuo (Autor:in)


    Erscheinungsdatum :

    25.10.2024


    Format / Umfang :

    3059798 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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