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 1998 American Control Conference, ACC 1998
Pages850-855
Number of pages6
DOIs
Publication statusPublished - 1998
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: 1998 Jun 241998 Jun 26

Publication series

NameProceedings of the American Control Conference
Volume2
ISSN (Print)0743-1619

Other

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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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 1998 American Control Conference, ACC 1998 (pp. 850-855). [703528] (Proceedings of the American Control Conference; Vol. 2). https://doi.org/10.1109/ACC.1998.703528