Modeling and Control of a 4-wheel Skid-steering Mobile Robot

• Autorzy: Kozłowski K. , Pazderski D.
• 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

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

PL

robot mobilny; backstepping; analiza Lyapunova

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2004
• Tom: Vol. 14, no 4
• Strony: 477--496
• Opis fizyczny: Bibliogr. 17 poz., rys., tab., wykr.

Twórcy

autor

Kozłowski K.

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

autor

Pazderski D.

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

Bibliografia

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