Hybrid model predictive control for the stabilization of wheeled mobile robots subject to wheel slippage

This paper studies the problem of traction control, i.e., how to stabilize a wheeled mobile robot (WMR) subject to wheel slippage to a desired configuration. The WMR is equipped with a rechargeable battery pack which powers electric drives on each wheel. The drives propel the WMR in one mode of oper...

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Bibliographic Details
Main Authors: Shangming Wei, Kasemsak Uthaichana, Milos Zefran, Raymond Decarlo
Format: Journal
Published: 2018
Online Access:https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84886718549&origin=inward
http://cmuir.cmu.ac.th/jspui/handle/6653943832/47721
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Institution: Chiang Mai University