Alternative identification of wheeled mobile robots with skidding and slipping

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• 作者：Hyoseok Kang ; Chang-Woo Park ; Chang-Ho Hyun
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2016
• 出版时间：August 2016
• 年：2016
• 卷：14
• 期：4
• 页码：1055-1062
• 全文大小：524 KB
• 刊物类别：Engineering
• 刊物主题：Control Engineering
  
• 出版者：The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engi
• ISSN：2005-4092
• 卷排序：14

文摘

This paper proposes the new identification of dynamics for Type(2,0) wheeled mobile robots(WMRs) in the presence of wheel skidding and slipping. This paper presents dynamics models that explicitly relate perturbations to the vehicle skidding and slipping. They cause parameter uncertainties, input-additive, matched and unmatched perturbations of WMRs. To solve the problem, this paper determines the new identification of dynamics for WMRs with skidding and slipping. The proposed dynamics lay a base for the deployments of various control design techniques to overcome the addressed perturbations. Finally, this paper verifies the tracking performance of the proposed feedback linearization controller for simulation results.KeywordsAlternative identificationrobust tracking controlskiddingslippinguncertainty