Title :
Robust recursive control of a skid-steering mobile robot
Author :
Inoue, R.S. ; Cerri, Joao P. ; Terra, M.H. ; Siqueira, Adriano A. G.
Author_Institution :
Dept. of Electr. Eng., Fed. Univ. of Sao Carlos, São Carlos, Brazil
Abstract :
This paper is concerned with the robust control of a skid-steering mobile robot (SSMR). A robust recursive controller for linear state-space systems subject to parametric uncertainties is considered to deal with the SSMR tracking problem. Simulation results of the application of this regulator using the dynamic model equations of a SSMR shows the effectiveness of this approach.
Keywords :
linear systems; mobile robots; robust control; state-space methods; trajectory control; uncertain systems; SSMR tracking problem; dynamic model equation; linear state-space system; parametric uncertainty; robust recursive control; skid-steering mobile robot; Kinematics; Mobile robots; Regulators; Robustness; Trajectory; Wheels;
Conference_Titel :
Advanced Robotics (ICAR), 2013 16th International Conference on
Conference_Location :
Montevideo
DOI :
10.1109/ICAR.2013.6766516
