A novel inertia moment estimation algorithm collaborated with Active Force Control scheme for wheeled mobile robot control in constrained environments

作者：

Highlights：

• Current Active Force Control is suffering from noise in constrained environments.

• The noise are raised from sensor measurements and inertia moment estimation.

• The estimation of inertia moment is subjected to noise and can’t not be measured.

• A novel algorithm has been introduced to estimate the inertia moment with noise.

• A new control scheme for noise rejection has been developed in this paper.

摘要

•Current Active Force Control is suffering from noise in constrained environments.•The noise are raised from sensor measurements and inertia moment estimation.•The estimation of inertia moment is subjected to noise and can’t not be measured.•A novel algorithm has been introduced to estimate the inertia moment with noise.•A new control scheme for noise rejection has been developed in this paper.

论文关键词：Laser simulator logic (LSL),Noisy and constraint environment,Wheeled mobile robot (WMR),Active force control (AFC)

论文评审过程：Received 26 January 2020, Revised 27 May 2021, Accepted 6 June 2021, Available online 18 June 2021, Version of Record 25 June 2021.

论文官网地址：https://doi.org/10.1016/j.eswa.2021.115454