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A novel motion control system for Compliant Framed wheeled Modular MobileRobots (CFMMR) is studied in this paper. This type of wheeled mobile robot usesrigid axles coupled by compliant frame modules to provide both full suspensionand enhanced steering capability without additional hardware. The proposedcontrol system is developed by combining a bounded curvature-based kinematiccontroller and a nonlinear damping dynamic controller. In particular, multipleforms of controller interaction are examined. A twoaxle scout CFMMRconfiguration is used to evaluate the different control structures.Experimental results verify efficient motion control of posture regulation.

Cooperative Distributed Robust Control of Modular Mobile Robots with Bounded Curvature and Velocity