TY  - JOUR
AU  - Chen, Junan
AU  - Xu, Changliang
PY  - 2026
DA  - 2026/06/19
TI  - A Mini Review of Control Technologies for Wheeled Mobile Robots Under Different Operating Conditions
JO  - ICCK Transactions on Intelligent Cyber-Physical Systems
T2  - ICCK Transactions on Intelligent Cyber-Physical Systems
JF  - ICCK Transactions on Intelligent Cyber-Physical Systems
VL  - 1
IS  - 2
SP  - 72
EP  - 75
DO  - 10.62762/TICPS.2026.507420
UR  - https://www.icck.org/article/abs/TICPS.2026.507420
KW  - wheeled mobile robot
KW  - trajectory tracking
KW  - sliding mode control
KW  - disturbance observer
KW  - input saturation
KW  - robust control
AB  - Wheeled mobile robots are widely used in intelligent logistics, unmanned delivery, industrial inspection, service robots, and other fields due to their simple structure, flexible mobility, and low energy consumption. However, during actual operation, robots often encounter complex operating conditions such as tire slip, model uncertainty, input saturation, and external disturbances, which can lead to reduced trajectory tracking accuracy or even system instability. In recent years, scholars in China and abroad have proposed numerous advanced control methods for the control problems of wheeled robots under different operating conditions, including sliding mode control, disturbance observer-based control, adaptive control, finite-time control, and model predictive control. This paper reviews the control problems of wheeled robots under ideal conditions, slip conditions, input-constrained conditions, and complex disturbance environments. It analyzes the development status, typical algorithms, and future trends of control methods in recent years. Finally, the development directions of wheeled robot control technologies are summarized and discussed.
SN  - 3071-2947
PB  - Institute of Central Computation and Knowledge
LA  - English
ER  - 

@article{Chen2026A,
  author = {Junan Chen and Changliang Xu},
  title = {A Mini Review of Control Technologies for Wheeled Mobile Robots Under Different Operating Conditions},
  journal = {ICCK Transactions on Intelligent Cyber-Physical Systems},
  year = {2026},
  volume = {1},
  number = {2},
  pages = {72-75},
  doi = {10.62762/TICPS.2026.507420},
  url = {https://www.icck.org/article/abs/TICPS.2026.507420},
  abstract = {Wheeled mobile robots are widely used in intelligent logistics, unmanned delivery, industrial inspection, service robots, and other fields due to their simple structure, flexible mobility, and low energy consumption. However, during actual operation, robots often encounter complex operating conditions such as tire slip, model uncertainty, input saturation, and external disturbances, which can lead to reduced trajectory tracking accuracy or even system instability. In recent years, scholars in China and abroad have proposed numerous advanced control methods for the control problems of wheeled robots under different operating conditions, including sliding mode control, disturbance observer-based control, adaptive control, finite-time control, and model predictive control. This paper reviews the control problems of wheeled robots under ideal conditions, slip conditions, input-constrained conditions, and complex disturbance environments. It analyzes the development status, typical algorithms, and future trends of control methods in recent years. Finally, the development directions of wheeled robot control technologies are summarized and discussed.},
  keywords = {wheeled mobile robot, trajectory tracking, sliding mode control, disturbance observer, input saturation, robust control},
  issn = {3071-2947},
  publisher = {Institute of Central Computation and Knowledge}
}