Practical stabilization of 4WD skid-steering mobile robot

This paper presents an algorithm based on kinematic oscillator which is used to control four wheel skid-steering mobile robot (4WD SSMR). This proposition is an extension of the original kinematic controller proposed by W.E. Dixon et al. (2001) and it allows to ensure practical stabilization (see works done by P. Morin and C. Samson (2002)) for non-admissible trajectories. In order to improve robustness of the control law, a dynamical model of SSMR is included by using backstepping technique and Lyapunov analysis. Theoretical results are verified by numerical simulations performed in Matlab/Simulink environment.