Work

Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots with External Disturbances and Parameter Uncertainties

Year: 2025

Type: article

Abstract: The system studied in this research is a nonholonomic wheeled mobile robot (WMR) with three degrees of freedom (3-DOF). The goal is to design a fast end-sliding mode control for positioning and stabilizing the system's forward motion and angle. The methodology involves formulating the system's dynamic equations using Newton-Euler equations and then converting them into state-space form. The designed controller is then applied to the system, and external random noise disturbances are introduced via MATLAB simulations to evaluate the system's robustness against uncertainties and disturbances.

Source: Edison journal for electrical and electronics engineering.

DOI: 10.62909/ejeee.2025.003

Authors: Nabaa Nasser Ali, Mahmoud Shahi

Institution: Islamic Azad University, Tehran

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $75

OpenAlex ID: W4413416909

FWCI:

Cites: 17

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Related to: 10