Yuan-Qing Wu

Robust Cooperative Formation Maneuver Control of Multi-Omnidirectional Robot Systems Considering Roller Effects and Ground Friction

To address the robust formation maneuvering control problem of multi-omnidirectional robot systems under the combined effects of the roller effect and ground friction, this paper proposes a composite disturbance-rejection robust control architecture integrating a hierarchical observer and a sliding mode controller. Fir...