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Sliding-mode velocity and yaw control of a 4wd skid-steering mobile robot.
| Content Provider | CiteSeerX |
|---|---|
| Author | Lucet, Eric Gr, Christophe |
| Abstract | Abstract The subject of this paper is the design and implementation of a robust dynamic feedback controller, based on the dynamic model of the four-wheel skid-steering RobuFAST A robot, undergoing high-speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main objective of this paper is to formulate a sliding mode controller, robust enough to obviate the knowledge of the forces within the wheel-soil interaction, in the presence of sliding phenom-ena and ground-level fluctuations. Finally, experiments are conduced on a slippery ground to ascertain the efficiency of the control law. 1 |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Sliding-mode Velocity Skid-steering Mobile Robot Yaw Control Sliding Mode Controller Robust Dynamic Feedback Controller Wheel-soil Interaction Linear Velocity High-speed Turn Dynamic Model Control Law Slippery Ground Main Objective Ground-level Fluctuation Four-wheel Skid-steering Robufast Robot Yaw Angle Control Input |
| Content Type | Text |
| Resource Type | Article |
