DocumentCode
2752208
Title
Practical Stabilization of a Skid-steering Mobile Robot - A Kinematic-based Approach
Author
Kozlowski, Krzysztof ; Pazderski, Dariusz
Author_Institution
Inst. of Control & Syst. Eng., Poznan Univ. of Technol.
fYear
2006
fDate
3-5 July 2006
Firstpage
519
Lastpage
524
Abstract
This paper presents kinematic control problem of skid-steering mobile robot using practical smooth and time-varying stabilizer. The stability result is proved using Lyapunov analysis and takes into account both input signal saturation and uncertainty of kinematics. In order to ensure stable motion of the robot the condition of permissible velocities is formulated according to dynamic model and wheel-surface interaction. Theoretical considerations are illustrated by simulation results
Keywords
Lyapunov methods; mobile robots; robot kinematics; stability; steering systems; time-varying systems; uncertain systems; Lyapunov analysis; input signal saturation; kinematic control; permissible velocities; practical stabilization; skid-steering mobile robot; time-varying stabilizer; wheel-surface interaction; Angular velocity; Angular velocity control; Control systems; Land vehicles; Mobile robots; Oscillators; Robot kinematics; Robust control; Robust stability; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, 2006 IEEE International Conference on
Conference_Location
Budapest
Print_ISBN
0-7803-9712-6
Electronic_ISBN
0-7803-9713-4
Type
conf
DOI
10.1109/ICMECH.2006.252581
Filename
4018416
Link To Document