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Title: Robust low-level motion control of WMR with stochastic active observers
Author: Maia, Rodrigo
Cortesão, Rui
Nunes, Urbano
Silva, Valter
Fonseca, José
Issue Date: 2003
Abstract: This paper describes a robust control method for the low-level motion of a Wheeled Mobile Robot (WMR). It is demonstrated through simulation analysis that the Active Observer (AOB) Control structure provides a reliable tracking control action, for the WMRs wheel velocity, in spite of parameters uncertainties. The results show that this type of controller structure can be applied to WMR, where information of motor intrinsic parameters or cross-couplings is unavailable, this is the case of robotic wheelchair "RobChair".
Peer review: yes
Publisher Version:
Appears in Collections:ESTGA - Comunicações
PT Bicicleta e Mobilidade Suave - Comunicações

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