Abstract
When wheeled mobile robots run fast on the rough surface, the devices loaded on the body are affected by the body acceleration and may be destroyed. In this paper, we propose a method to reduce the body acceleration of wheeled mobile robots. A method to design ideal model achieving small body acceleration is shown. The information from accelerometers mounted on each wheel axis is used in the ideal model. Next, a robust model tracking controller is proposed. The efficiency of the proposed controller has been verified by experiments
