Rongqin Mo

Combined Modal Robust Cascade Control for Wheeled Self-Reconfigurable Robots Under Drive Failure and Safety Threat

Wheeled self-reconfigurable robots (WSRRs), a new type of multi-robot system with flexible configurations and task adaptability, have an extensive application prospects in unstructured mission environments. In this paper, based on the nonholonomic constraints and Lagrange method, the combinatorial m