Trajectory tracking of underactuated skid-steering robot

被引：21
|
作者：
Pazderski, Dariusz [1 ]
Kozlowski, Krzysztof [1 ]
机构：
[1] Poznan Univ Tech, Fac Comp Sci & Management, Chair Control & Syst Engn, PL-60965 Poznan, Poland
来源：
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2008年
关键词：
D O I：
10.1109/ACC.2008.4587036
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers problem of approximation of admissible trajectory for skid-steering mobile robot at kinematic level. Nonholonomic constraints at kinematic and dynamic level are taken into account. The trajectory tracking control problem is solved using practical stabilizer using tunable oscillator with novel method of tuning. The stability result is proved using Lyapunov analysis and takes into account uncertainty of kinematics. In order to ensure stable motion of the robot the scaling method is used. Theoretical considerations are illustrated by simulation results.
引用
收藏
页码：3506 / 3511
页数：6
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