Practical stabilization of 4WD skid-steering mobile robot

被引：3
|
作者：
Pazderski, D [1 ]
Kozlowski, K [1 ]
Lawniczak, M [1 ]
机构：
[1] Poznan Univ Tech, Inst Control & Syst Engn, PL-60965 Poznan, Poland
来源：
ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2004年
关键词：
D O I：
10.1109/ROMOCO.2004.240580
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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 original kinematic controller proposed by Dixon and others [4] and it allows to ensure practical stabilization (See works done by Morin and Samson [7]) for non-admissible trajectories. In order to improve robustness of control law dynamical model of SSMR are included by using backstepping technique and Lyapunov analysis. Theoretical results am verified by numerical simulations performed in Matlab/Simulink environment.
引用
收藏
页码：175 / +
页数：2
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