Modeling and control of a 4-wheel skid-steering mobile robot

• Autorzy: Krzysztof Kozłowski , Dariusz Pazderski
• Języki publikacji: EN

Abstrakty

EN

A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.

Słowa kluczowe

EN

backstepping; skid-steering vehicles; mobile robots; Lyapunov analysis; time-varying control laws

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2004
• Tom: 14
• Numer: 4
• Strony: 477-496

Daty

wydano

2004

otrzymano

2004-06-01

poprawiono

2004-09-01

Twórcy

autor

Krzysztof Kozłowski

• Institute of Control and Systems Engineering, Poznań University of Technology, ul. Piotrowo 3A, 60-965 Poznań, Poland

autor

Dariusz Pazderski

• Institute of Control and Systems Engineering, Poznań University of Technology, ul. Piotrowo 3A, 60-965 Poznań, Poland

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