42 citations · 42 across the 3 of their papers we have counts for
3 papers
cs.RO2023
Adaptive Model Prediction Control-Based Multi-Terrain Trajectory Tracking Framework for Mobile Spherical Robots
Yifan Liu, Tao Hu, Xiaoqing Guan +4
Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple te…
cs.RO2023
An MPC-based Optimal Motion Control Framework for Pendulum-driven Spherical Robots
Tao Hu, Xiaoqing Guan, Yixu Wang +5
Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only…
cs.RO2022★ 42 cited
Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller
Yifan Liu, Yixu Wang, Xiaoqing Guan +6
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new di…