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
Published in:	IEEE transactions on control systems technology Vol. 21; no. 6; pp. 2181 - 2193
Main Authors:	Shangming Wei, Uthaichana, Kasemsak, Zefran, Milos, DeCarlo, Raymond
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.11.2013 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Autonomous Batteries Combinatorial analysis Embedding Mathematical models Mobile robots model predictive control Numerical analysis Optimal control Predictive control Robots Slippage Studies Switched systems Wheels
ISSN:	1063-6536, 1558-0865
Online Access:	Get full text
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