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

Yulin Zhang, Daehie Hong, Jae H. Chung, Steven A. Velinsky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

34 Citations (Scopus)

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 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.

Original languageEnglish
Title of host publicationProceedings of the American Control Conference
Pages850-855
Number of pages6
Volume2
DOIs
Publication statusPublished - 1998 Dec 1
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: 1998 Jun 241998 Jun 26

Other

Other1998 American Control Conference, ACC 1998
CountryUnited States
CityPhiladelphia, PA
Period98/6/2498/6/26

Fingerprint

Mobile robots
Dynamic models
Robust control
Robustness (control systems)
Tires
Wheels
Robots
Computer simulation
Uncertainty

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Zhang, Y., Hong, D., Chung, J. H., & Velinsky, S. A. (1998). Dynamic model based robust tracking control of a differentially steered wheeled mobile robot. In Proceedings of the American Control Conference (Vol. 2, pp. 850-855). [703528] https://doi.org/10.1109/ACC.1998.703528

Dynamic model based robust tracking control of a differentially steered wheeled mobile robot. / Zhang, Yulin; Hong, Daehie; Chung, Jae H.; Velinsky, Steven A.

Proceedings of the American Control Conference. Vol. 2 1998. p. 850-855 703528.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zhang, Y, Hong, D, Chung, JH & Velinsky, SA 1998, Dynamic model based robust tracking control of a differentially steered wheeled mobile robot. in Proceedings of the American Control Conference. vol. 2, 703528, pp. 850-855, 1998 American Control Conference, ACC 1998, Philadelphia, PA, United States, 98/6/24. https://doi.org/10.1109/ACC.1998.703528
Zhang Y, Hong D, Chung JH, Velinsky SA. Dynamic model based robust tracking control of a differentially steered wheeled mobile robot. In Proceedings of the American Control Conference. Vol. 2. 1998. p. 850-855. 703528 https://doi.org/10.1109/ACC.1998.703528
Zhang, Yulin ; Hong, Daehie ; Chung, Jae H. ; Velinsky, Steven A. / Dynamic model based robust tracking control of a differentially steered wheeled mobile robot. Proceedings of the American Control Conference. Vol. 2 1998. pp. 850-855
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