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eess.SY2025★ 2 cited
Fault-Tolerant Control for System Availability and Continuous Operation in Heavy-Duty Wheeled Mobile Robots
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
When the control system in a heavy-duty wheeled mobile robot (HD-WMR) malfunctions, deviations from ideal motion occur, significantly heightening the risks of off-road instability…
eess.SY2025★ 2 cited
Model Reference-Based Control with Guaranteed Predefined Performance for Uncertain Strict-Feedback Systems
Mehdi Heydari Shahna, Jukka-Pekka Humaloja, Jouni Mattila
To address the complexities posed by time- and state-varying uncertainties and the computation of analytic derivatives in strict-feedback form (SFF) systems, this study introduces…