Robust control of a differentially steered wheeled mobile robot

Yulin Zhang, Daehie Hong, Steven A. Velinsky

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

1 Citation (Scopus)

Abstract

This paper presents a robust control algorithm for exponentially stable tracking control of a differentially steered Wheeled Mobile Robot (WMR). The exponential tracking property is guaranteed with kinematic uncertainties, such as wheel slippage and radius errors. The control algorithm has been designed for use in a WMR which is being specifically developed for applications in highway maintenance and construction. For such applications, the uncertainties arise due to the road surface conditions and the high loads encountered (both inertial and tool forces). However, the system under development is equipped with a two dimensional cable extension transducer which has been proven to be a rugged and accurate position measurement system, so that the robust control algorithm developed is suitable and ensures good tracking performance. The algorithm is applicable to any differentially steered WMRs provided that accurate position measurement is available. The efficiency of the robust control algorithm is illustrated with numerical simulations.

Original languageEnglish
Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
EditorsW.S. Chang, A. Gopinath, S.S. Sadhal, E.H. Trinh, C.J. Kim, al et al
Place of PublicationFairfield, NJ, United States
PublisherASME
Pages475-480
Number of pages6
Volume61
Publication statusPublished - 1997 Dec 1
Externally publishedYes
EventProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA
Duration: 1997 Nov 161997 Nov 21

Other

OtherProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition
CityDallas, TX, USA
Period97/11/1697/11/21

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ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

Cite this

Zhang, Y., Hong, D., & Velinsky, S. A. (1997). Robust control of a differentially steered wheeled mobile robot. In W. S. Chang, A. Gopinath, S. S. Sadhal, E. H. Trinh, C. J. Kim, & A. et al (Eds.), American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC (Vol. 61, pp. 475-480). Fairfield, NJ, United States: ASME.