Robust Motion Control of a 4 Wheel Drive Skid-Steered Mobile Robot

This is a video from my MS thesis study. It is Robust Motion Control of A 4 Wheel Drive Skid-Steered Mobile Robot (4WD SSMR). Motion control system developed consists of two sub-systems, kinematic trajectory tracking controller and dynamic velocity controller. Vector-Field-Orientation (VFO) with a PID plus orienting strategy is used at kinematic level directing the vehicle towards the so-called reference cart. The control inputs at kinematic level are the longitudinal velocity and the angular velocity about local z-axis. The dynamic velocity controller has a two stage structure. In first stage, the control law is based on the Sliding Mode Control (SMC) technique plus a linear state feedback and an anticipative term. This nonlinear control signal, which can be regarded as acceleration, is then feedback linearized using the conventional Computed Torque Method (CTM). The asymptotic convergence is guaranteed by the VFO method and the robust stability is based on the Lyapunov theory.

Category:

Science & Technology

Tags:

• Skid-Steer
• Robust Motion Control
• SSMR