Modeling and Control of PANTHERA Self-Reconfigurable Pavement Sweeping Robot under Actuator Constraints
Madan Mohan Rayguru,M. R. Elara,A. A. Hayat,B. Ramalingam,Spandan Roy,Madan Mohan Rayguru,M. R. Elara,A. A. Hayat,B. Ramalingam,Spandan Roy
The focus of this paper is (i) to derive a suitable dynamic model for a self-reconfigurable pavement sweeping robot PANTHERA and (ii) to design a robust controller for the same to tackle uncertainties stemming from the reconfiguration process, external disturbances and from actuator saturation. To meet the first objective, an Euler-Lagrangian dynamic model is proposed to incorporate the effects of...
