Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators discuss new findings in Robotics. According to news reporting originating from Jinan, People's Republic of China, by NewsRx correspondents, research stated, "In this paper, a double-lo op control method is proposed to improve the trajectory tracking performance of a wheeled mobile robot (WMR) with slippage properties and external disturbances. Considering the strong robustness and the ability to enable the system to conve rge in a short time, the predefined-time sliding mode control (PTSMC) strategy i s applied to the design of a double-loop controller." Financial support for this research came from Research Project of Shandong Const ruction Machinery Intelligent Equipment Innovation and Entrepreneurship Communit y. Our news editors obtained a quote from the research from the University of Jinan , "Furthermore, a nonlinear disturbance observer (NDO) is adopted to comply with the feedforward compensation of the external disturbances. In turn, the control ler only needs to deal with the internal disturbance of the system under the pre mise of using the NDO, thereby reducing the burden of the sliding mode controlle r. Based on Lyapunov methods, the stability of the double-loop controller and th e NDO is analyzed."
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