IEEE.org| IEEE Xplore Digital Library| IEEE Standards| IEEE Spectrum| More Sites

Cart (Loading....) | Create Account | 

Close category search window
Author Searchbeta |  Advanced Search  |  Preferences |  Search Tips  |  More Search Options  
 
Browse Conference Publications > Intelligent Robots and System ... Help

Modeling Skidding and Slipping in Wheeled Mobile Robots: Control Design Perspective

Full Text Sign-In or Purchase

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing! close button
puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Danwei Wang ; Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ. ; Chang Boon Low

This present paper aims to give a general and unifying presentation on modeling of WMRs in the presence of wheel skidding and slipping from the perspective of control design. We present kinematic models that explicitly relate the perturbations to the vehicle skidding and slipping. Four configurations of mobile robots are considered and the perturbations due to skidding and slipping are categorically classified as input additive, input multiplicative, and/or matched/unmatched perturbations. These classifications and formulations lay a base for the deployments of various control design techniques to overcome the addressed perturbations

Published in:
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference: Oct. 2006

Page(s):
1867 - 1872
E-ISBN :
1-4244-0259-X
Print ISBN:
1-4244-0259-X
INSPEC Accession Number:
9397683
Conference Location :
Beijing
Digital Object Identifier :
10.1109/IROS.2006.282309

IEEE Account

Purchase Details

Profile Information

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.