منابع مشابه
Tracking and Regulation Control of a Skid Steering Vehicle
Differentially driven skid-steering vehicles are often considered for navigation in outdoor terrains. However, the control of such vehicles is challenging because the wheels must skid laterally to follow a curved path, and motion stability can be lost as a result of excess skidding due to the position of the instantaneous center of rotation (ICR). To accommodate for the potential loss of stabil...
متن کاملVector-Field-Orientation Tracking Control for a Mobile Vehicle Disturbed by the Skid-Slip Phenomena
The paper is devoted to the trajectory tracking control task for a differentiallydriven vehicle moving on a plane surface under conditions of the persistent skid-slip phenomena. The Vector Field(s) Orientation (VFO) control strategy, presented originally for undisturbed case in [6], has been reformulated here to the new disturbed motion conditions. The extension of the VFO strategy relies on in...
متن کاملDynamic sliding mode control of a four-wheel skid-steering vehicle in presence of sliding
The paper deals with the design and the implementation of a robust path-following feedback controller, based on the dynamic model of a four-wheel skidsteering robot, performing high speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main object of this paper is to elaborate a sliding mode controller, proved to be robust enough to avoid the knowledge of t...
متن کاملVehicle Anti-Skid Control by Means of Extended State Observer and Active Disturbance Rejection Controller
When the driving road surface condition suddenly changes from dry to wet, the driving wheels will slip due to much lower coefficient of friction, and thus cause the vehicle to skid. Unlike the popular anti-brake system which applies differential braking to wheels, the presented ant-skid Control properly distributes torques to wheels without braking. In comparison with many recently developed an...
متن کاملSteering Control for a Skid-Steered Autonomous Ground Vehicle at Varying speed
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ژورنال
عنوان ژورنال: Mechatronics
سال: 2006
ISSN: 0957-4158
DOI: 10.1016/j.mechatronics.2005.10.005