TY - GEN
T1 - Dynamic model based robust tracking control of a differentially steered wheeled mobile robot
AU - Zhang, Yulin
AU - Hong, Daehie
AU - Chung, Jae H.
AU - Velinsky, Steven A.
PY - 1998
Y1 - 1998
N2 - The expansion of wheeled mobile robot usage to applications with high loads and speeds requires reliable tracking control that is robust to the disturbances emanating from external loads and the wheel-ground contact. The motion of such robots can be accurately described with a dynamic model that includes both the external forces and a complex tire model. However, control design from the full dynamic model is not practical due to its complexity and non-analytic form. In this paper, we derive a simplified dynamic model which is adequate for control design and treat the remaining terms as model uncertainty. Then, the uncertainty is analyzed and a robust control algorithm is designed. The performance and robustness is proven through computer simulation.
AB - The expansion of wheeled mobile robot usage to applications with high loads and speeds requires reliable tracking control that is robust to the disturbances emanating from external loads and the wheel-ground contact. The motion of such robots can be accurately described with a dynamic model that includes both the external forces and a complex tire model. However, control design from the full dynamic model is not practical due to its complexity and non-analytic form. In this paper, we derive a simplified dynamic model which is adequate for control design and treat the remaining terms as model uncertainty. Then, the uncertainty is analyzed and a robust control algorithm is designed. The performance and robustness is proven through computer simulation.
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U2 - 10.1109/ACC.1998.703528
DO - 10.1109/ACC.1998.703528
M3 - Conference contribution
AN - SCOPUS:84881363154
SN - 0780345304
SN - 9780780345300
T3 - Proceedings of the American Control Conference
SP - 850
EP - 855
BT - Proceedings of the 1998 American Control Conference, ACC 1998
T2 - 1998 American Control Conference, ACC 1998
Y2 - 24 June 1998 through 26 June 1998
ER -