- Tytuł:
- Modeling and Control of a 4-wheel Skid-steering Mobile Robot
- Autorzy:
-
Kozłowski, K.
Pazderski, D. - Powiązania:
- https://bibliotekanauki.pl/articles/907961.pdf
- Data publikacji:
- 2004
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
robot mobilny
backstepping
analiza Lyapunova
mobile robots
skid-steering vehicles
time-varying control laws
Lyapunov analysis - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 477-496
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł