Practical stabilization of 4WD skid-steering mobile robot

Dariusz Pazderski; Krzysztof Kozłowski; Marek Ławniczak

doi:10.1109/ROMOCO.2004.240580

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Title

Practical stabilization of 4WD skid-steering mobile robot

Authors

Dariusz Pazderski ^{[ 1 ][ P ]}
Krzysztof Kozłowski ^{[ 1 ][ P ]}
Marek Ławniczak ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Sterowania i Inżynierii Systemów (ISt), Wydział Informatyki i Zarządzania, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2004

Chapter type

paper

Publication language

english

Abstract

EN This paper presents an algorithm based on kinematic oscillator which is used to control four wheel skid-steering mobile robot (4WD SSMR). This proposition is an extension of the original kinematic controller proposed by W.E. Dixon et al. (2001) and it allows to ensure practical stabilization (see works done by P. Morin and C. Samson (2002)) for non-admissible trajectories. In order to improve robustness of the control law, a dynamical model of SSMR is included by using backstepping technique and Lyapunov analysis. Theoretical results are verified by numerical simulations performed in Matlab/Simulink environment.

Pages (from - to)

175 - 180

DOI

10.1109/ROMOCO.2004.240580

URL

https://ieeexplore.ieee.org/document/1359505

Book

Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo 2004, Puszczykowo, Poland, June 17-20, 2004

Presented on

4th International Workshop on Robot Motion and Control, RoMoCo'04, 17-20.06.2004, Puszczykowo, Poland

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