TRAJECTORY TRACKING CONTROL FOR 4 WHEEL SKID-STEERING MOBILE ROBOT
نویسندگان
چکیده
منابع مشابه
Trajectory tracking control of Skid-Steering Robot – experimental validation ⋆
In this paper authors consider the problem of practical stabilization of wheeled mobile robot equipped with skid-steering drive (also know as SSMR). The kinematic model of SSMR is approximated by kinematics of unicycle including small perturbation term which describes limited skidding effect. It is justified that SSMR can be regarded as a system with non-stationary first order nonholonomic cons...
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This paper studies a fault tolerant control strategy for a four wheel skid steering mobile robot (SSMR). Through this work the fault diagnosis procedure is accomplished using structural analysis technique while fault accommodation is based on a Recursive Least Squares (RLS) approximation. The goal is to detect faults as early as possible and recalculate command inputs in order to achieve fault ...
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A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov...
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Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
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This article aims at giving an insight on the principal methods and problems encountered when dealing with a classical computer control problem of a mobile robot vehicle. The robot’s software architecture is detailed and the importance of developing an elaborate robot model is emphasized. The mechanical behavior is explored, followed by an exposition of the path-tracking controller structure. M...
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ژورنال
عنوان ژورنال: Science and Technology Development Journal
سال: 2010
ISSN: 1859-0128
DOI: 10.32508/stdj.v13i3.2137