Sliding-Mode Velocity and Yaw Control of a 4WD Skid-Steering Mobile Robot

被引：0
|
作者：
Lucet, Eric [1 ]
Grand, Christophe [2 ]
Bidaud, Philippe [2 ]
机构：
[1] Robosoft, Technopole Izarbel, F-64210 Bidart, France
[2] ISIR UPMC, UMR 7222, F-75005 Paris, France
来源：
BRAIN, BODY AND MACHINE | 2010年 / 83卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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 phenomena and ground-level fluctuations. Finally, experiments are conduced on a slippery ground to ascertain the efficiency of the control law.
引用
收藏
页码：247 / +
页数：2
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