Anti-windup uniform fuzzy control for uncertain wheeled mobile robots

• Main Authors: Xu, Hongpeng, Chen, Hui, Ali, Mohammed A.H., Liu, Wei, Wang, Zhenya
• Format: Article
• Published: Elsevier 2024
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.um.edu.my/45282/; https://doi.org/10.1016/j.jfranklin.2024.106807

This paper presents a unified control strategy to address the challenge of input saturation in wheeled mobile robots, particularly those with incomplete kinematic constraints. The strategy is based on reconceptualizing the robot's kinematic model into a chain system using the transversal functi...