Dynamic Modeling and Disturbance-Observer-Enhanced Control for Mecanum-Wheeled Vehicles Under Load and Noise Disturbance

Dynamic Modeling and Disturbance-Observer-Enhanced Control for Mecanum-Wheeled Vehicles Under Load and Noise Disturbance

This paper investigates the dynamic modeling and robust control of a Mecanum-wheeled vehicle (MWV) under load disturbances and measurement noise. The system is modeled as a cascaded state-space representation, where the motor transfer function (PWM input → torque output) and the vehicle transfer fun...

Full description

Saved in:
Bibliographic Details
Main Authors: Chensheng Li, Zhi Li
Format: Article
Language:English
Published: MDPI AG 2025-02-01
Series:Mathematics
Subjects:
mecanum wheel
dynamic model
state-space model
internal model control
disturbance observer
Online Access:https://www.mdpi.com/2227-7390/13/5/789
Tags: Add Tag
No Tags, Be the first to tag this record!

Internet

https://www.mdpi.com/2227-7390/13/5/789

Similar Items