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A Study on Robust Trajectory Tracking Control of a Skid Steering Robots  

Baek, Woon-Bo (동의대학교 메카트로닉스공학과)
Kim, Won-Ho (동의대학교 메카트로닉스공학과)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.19, no.1, 2010 , pp. 121-127 More about this Journal
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
Skid Steering; Feedback Linearization; Sliding Mode;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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