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 | |
| 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 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
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 - 1998/12/1
Y1 - 1998/12/1
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.
UR - http://www.scopus.com/inward/record.url?scp=84881363154&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84881363154&partnerID=8YFLogxK
U2 - 10.1109/ACC.1998.703528
DO - 10.1109/ACC.1998.703528
M3 - Conference contribution
AN - SCOPUS:84881363154
SN - 0780345304
SN - 9780780345300
VL - 2
SP - 850
EP - 855
BT - Proceedings of the American Control Conference
ER -