Comparative Analysis of Posture Controllers for Tracking Control of a Four-Wheeled Skid-Steered Mobile Robot in Case of Non-Zero Initial Position and Course Errors
نویسندگان
چکیده
The paper is concerned with the problem of trajectory tracking control of a four-wheeled skid-steered mobile robot in case of non-zero initial position and course (posture) errors. Object of the research, its kinematics and dynamics were described. Structure of robot motion control system containing posture controller and drive controller is shown. Six solutions of the posture controller which allow realization of tracking control as well as a methodology of controller tuning are presented. Effectiveness of particular solutions of posture controller is benchmarked in the simulation studies. Evaluation of the analyzed solutions is carried out using the introduced quality indexes.
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