Dynamic control of the 6WD skid-steering mobile robot RobuROC6 using sliding mode technique

نویسندگان

  • Eric Lucet
  • Christophe Grand
  • Damien Sallé
  • Philippe Bidaud
چکیده

A robust dynamic feedback controller is designed and implemented, based on the dynamic model of the six-wheel skid-steering RobuROC6 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 ignore the knowledge of the forces within the wheel-soil interaction, in the presence of sliding phenomena and ground level fluctuations. Finally, a 3D simulation is performed with an accurate physical engine to evaluate the efficiency of this designed control law.

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تاریخ انتشار 2008