NDLI: Dynamic model based robust tracking control of a differentially steered wheeled mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Yulin Zhang Daehie Hong Chung, J.H. Velinsky, S.A.
Copyright Year	1998
Description	Author affiliation: California Univ., Davis, CA, USA (Yulin Zhang)
Abstract	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 nonanalytic 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.
Starting Page	850
Ending Page	855
File Size	541351
Page Count	6
File Format	PDF
ISBN	0780345304
ISSN	07431619
DOI	10.1109/ACC.1998.703528
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-06-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robust control Mobile robots Uncertainty Wheels Control design Tires Equations Algorithm design and analysis Robustness Computer simulation
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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