Trajectory Tracking Control for Mecanum-wheel Cambered Mobile Robots Based on Online Adaptive Critic Optimal Controller

Mecanum-wheel cambered mobile robot (MWCMR) working in the Gas Insulated Switchgear (GIS) cavity is truly a complex system with highly non-linear. In order to control MWCMR for better trajectory tracking, a discrete intelligent trajectory tracking algorithm is presented in this paper. When realizing this algorithm, the kinematic model and dynamic model of MWCMR are also proposed, where the dynamic...