Modeling and Parameters Identification of Four- Wheel Mobile Robot with Independent Steering and Drive

This paper addresses the dynamic modeling and parameter identification of four-wheel mobile robots with in-dependent steering and drive (4ISD WMRs). A refined New-ton-Euler dynamic model is proposed to capture steering-dependent wheel-ground interaction effects that are often neglected in conventional formulations. To ensure accurate estimation of key dynamic parameters, a structured identification method is developed, along with persistently exciting input trajec-tories that guarantee convergence under bounded disturbances. Simulation results demonstrate the effectiveness of the proposed approach, achieving fast and robust parameter identification suitable for real-time model-based control.