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
相关论文
共 50 条
  • [31] Time-optimal sliding-mode control of a mobile robot in a dynamic environment
    Rubagotti, M.
    Della Vedova, M. L.
    Ferrara, A.
    IET CONTROL THEORY AND APPLICATIONS, 2011, 5 (16): : 1916 - 1924
  • [32] Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot
    Li, Wei
    Zhan, Qiang
    RECENT ADVANCES IN INTELLIGENT MANUFACTURING, PT I, 2018, 923 : 540 - 547
  • [33] Lateral Stability Control of Six-wheeled Skid-steering Robot Based on Hierarchical Control Strategy
    Yu L.-S.
    Su X.-J.
    Sun S.-X.
    Jiao C.-T.
    Zidonghua Xuebao/Acta Automatica Sinica, 2023, 49 (07): : 1421 - 1432
  • [34] Time-Varying Fuzzy Logic Controller of Skid-Steering Mobile Robot Based on Lyapunov Stability
    Ibrahim, Fady
    Abouelsoud, A. A.
    Elbab, Ahmed M. R. Fath
    PROCEEDINGS OF 2016 23RD INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP), 2016, : 220 - 225
  • [35] Sliding-Mode Control for Transformation to an Inverted Pendulum Mode of a Mobile Robot With Wheel-Arms
    Fukushima, Hiroaki
    Muro, Keiji
    Matsuno, Fumitoshi
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2015, 62 (07) : 4257 - 4266
  • [36] Comparing Internal Model Control and Sliding-Mode Approaches for Vehicle Yaw Control
    Canale, Massimo
    Fagiano, Lorenzo
    Ferrara, Antonella
    Vecchio, Claudio
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2009, 10 (01) : 31 - 41
  • [37] Application of sliding-mode theory to direct yaw-moment control
    Yoshioka, Tohru
    Adachi, Tomohiko
    Butsuen, Tetsuro
    Okazaki, Haruki
    Mochizuki, Hirotaka
    JSAE review, 1999, 20 (04): : 523 - 529
  • [38] Integrated control of direct yaw moment control and active suspension system for 4wd vehicles
    Hu, Jianjun
    Han, Yi
    Chen, Jia
    MECHANIKA, 2017, 23 (03): : 412 - 424
  • [39] Sliding-Mode Control for Trajectory-Tracking of a Wheeled Mobile Robot in Presence of Uncertainties
    Solea, Razvan
    Filipescu, Adrian
    Nunes, Urbano
    ASCC: 2009 7TH ASIAN CONTROL CONFERENCE, VOLS 1-3, 2009, : 1701 - 1706
  • [40] Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems
    Huang, Jian
    Guan, Zhi-Hong
    Matsuno, Takayuki
    Fukuda, Toshio
    Sekiyama, Kosuke
    IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (04) : 750 - 758
12345