Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on Robust Trajectory Tracking Control of a Skid Steering Robots

미끄럼 조향 로봇의 강인한 궤적 추종 제어에 관한 연구

  • 백운보 (동의대학교 메카트로닉스공학과) ;
  • 김원호 (동의대학교 메카트로닉스공학과)
  • Published : 2010.02.15
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Abstract

We consider the robust trajectory tracking control problem for a skid steering mobile robots. A dynamic model is derived accounting for the effects of wheel skidding. The control design utilizes the dynamic feedback linearization techniques, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The additive controller using the sliding mode type is then robustified against the unmodelled dynamics and parameter uncertainty. Simulation results show the good performances under excessively uncorrected estimations of the longitudinal forces and the lateral resistive forces caused by the skidding of the wheels in tracking trajectories.

Keywords

References

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