DocumentCode :
3616768
Title :
Practical stabilization of 4WD skid-steering mobile robot
Author :
D. Pazderski;K. Kozlowski;M. Lawniczak
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
fYear :
2004
fDate :
6/26/1905 12:00:00 AM
Firstpage :
175
Lastpage :
180
Abstract :
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.
Keywords :
"Mobile robots","Wheels","Robot kinematics","Oscillators","Vehicle dynamics","Mathematical model","Trajectory","Control systems","Systems engineering and theory","Robust control"
Publisher :
ieee
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo´04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
Type :
conf
DOI :
10.1109/ROMOCO.2004.240580
Filename :
1359505
Link To Document :
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