A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf
.
Coordinated Motion Control and Event-based Obstacle-crossing for Four Wheel-leg Independent Motor-driven Robotic System via MPC
[article]
2021
arXiv
pre-print
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The modeling of a wheel-leg robotic control system with a dynamic supporting polygon is organized. The system dynamic model is 3 degrees of freedom (DOF) ignoring the pitch, roll and vertical motions. The single wheel dynamic is analyzed considering the characteristics
arXiv:2011.06717v2
fatcat:gqt2ouh4zrcqtmqlg7fofpqqtu