Motion energy perspective of tracked locomotion system of autonomous tractor-trailer robot

Shafaei, S.M.; Mousazadeh, Hossein

doi:10.1016/j.energy.2022.126520

Energy

2023

DOI: 10.1016/j.energy.2022.126520

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Motion energy perspective of tracked locomotion system of autonomous tractor-trailer robot

S.M. Shafaei

Hossein Mousazadeh

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Cited by 3 publications

References 68 publications

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Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer

Yang,

Dang,

2024

Asian Journal of Control

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In this paper, trajectory tracking control is investigated for a wheeled mobile robot with one unpowered trailer using an extended state observer (ESO). The unpowered trailer is added to improve load capacity, which results in a large impact on trajectory tracking as a slow‐varying and large disturbance. A backstepping controller is proposed to generate desired velocities in an outer loop of a double closed‐loop structure. The ESO is employed in an inner loop to estimate the slow‐varying and large disturbance from the unpowered trailer. An integral sliding mode controller is also designed in the inner loop to track the desired velocities from the outer loop. Stability analysis for the ESO, the backstepping controller and the integral sliding mode controller is conducted via Lyapunov methods. Simulation results are provided to show the effectiveness of the trajectory tracking control for a wheeled mobile robot with one unpowered trailer.

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Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer

Yang,

Dang,

2024

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

Research on the energy transfer and efficiency performance of an electro-hydrostatic actuator for wheel-legged robot joint

Du,

Zhou,

Zhao

et al. 2024

Energy

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On the power characteristics of an unmanned tracked vehicle for autonomous transportation of agricultural payloads

Shafaei

Mousazadeh

2023

Journal of Terramechanics

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Motion energy perspective of tracked locomotion system of autonomous tractor-trailer robot

Cited by 3 publications

References 68 publications

Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer

Extended state observer‐based trajectory tracking control of a wheeled mobile robot with one unpowered trailer

Research on the energy transfer and efficiency performance of an electro-hydrostatic actuator for wheel-legged robot joint

On the power characteristics of an unmanned tracked vehicle for autonomous transportation of agricultural payloads

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