2021
Modeling and Control of PANTHERA Self-Reconfigurable Pavement Sweeping Robot under Actuator Constraints
IROS 2021poster
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 m…