@article{oai:kutarr.kochi-tech.ac.jp:00000302,
 author = {Wang, Yina and Wang, Shuoyu and Tan, Renpeng and Jiang, Yinlai},
 issue = {1},
 journal = {International Journal of Innovative Computing, Information and Control},
 month = {Jan},
 note = {Wheeled mobile robots are widely used in industry, ports, and agriculture because they have the necessary loading capability. High performance path-tracking is very important for the mobile robot to precisely follow the designed cargo-carrying path. However, the mobile robot sometimes strays from the prede ned path because of center-of-gravity (COG) shifts, load changes caused by loads, and nonlinear friction in the wheels. To address these issues, a dynamics model, which considers COG shifts, load changes, and nonlinear friction, is derived and a digital acceleration control algorithm is proposed for the mobile robot. Simulations are executed using the proposed method and the results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method by comparing with a proportional-integral (PI) controller.},
 pages = {387--396},
 title = {Motion Control of a Wheeled Mobile Robot Using Digital Acceleration Control Method},
 volume = {9},
 year = {2013}
}