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

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

doi:10.1109/ACC.1998.703528

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

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

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the American Control Conference
Pages	850-855
Number of pages	6
Volume	2
DOIs	https://doi.org/10.1109/ACC.1998.703528
Publication status	Published - 1998 Dec 1
Event	1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States Duration: 1998 Jun 24 → 1998 Jun 26

Other

Other	1998 American Control Conference, ACC 1998
Country	United States
City	Philadelphia, PA
Period	98/6/24 → 98/6/26

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.1998.703528

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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

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