Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on Robotics have been published. According to news originating from Tianjin, People's Republic o f China, by NewsRx correspondents, research stated, "In this paper, trajectory t racking control is investigated for a wheeled mobile robot with one unpowered tr ailer using an extended state observer (ESO). The unpowered trailer is added to improve load capacity, which results in a large impact on trajectory tracking as a slow-varying and large disturbance." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). Our news journalists obtained a quote from the research from Tianjin University, "A backstepping controller is proposed to generate desired velocities in an out er loop of a double closed-loop structure. The ESO is employed in an inner loop to estimate the slow-varying and large disturbance from the unpowered trailer. A n integral sliding mode controller is also designed in the inner loop to track the desired velocities from the outer loop. Stability analysis for the ESO, the b ackstepping controller and the integral sliding mode controller is conducted via Lyapunov methods."
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