Collinear mecanum drive: modelling, analysis, partial feedback linearisation, and nonlinear control

Watson, M. orcid.org/0000-0001-8443-4372, Gladwin, D. and Prescott, T. (2020) Collinear mecanum drive: modelling, analysis, partial feedback linearisation, and nonlinear control. IEEE Transactions on Robotics. ISSN 1552-3098

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Copyright, Publisher and Additional Information: © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy.
Keywords: Wheeled Robots; Dynamics; Kinematics; Dynamically Balanced Omnidirectional Motion
Dates:
  • Accepted: 23 February 2020
  • Published (online): 18 March 2020
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Computer Science (Sheffield)
Depositing User: Symplectic Sheffield
Date Deposited: 27 Feb 2020 16:17
Last Modified: 25 Mar 2020 15:41
Status: Published online
Publisher: Institute of Electrical and Electronics Engineers
Refereed: Yes
Identification Number: https://doi.org/10.1109/TRO.2020.2977878

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