TY - GEN
T1 - ROBUST CONTROL OF A DIFFERENTIALLY STEERED WHEELED MOBILE ROBOT
AU - Zhang, Yulin
AU - Hong, Daehie
AU - Velinsky, Steven A.
N1 - Funding Information:
The authors gratefully acknowledge the Office of New Technology and Research of the California Department of Transportation for the support of this work through the Advanced Highway Maintenance and Construction Technology Research Center at the University of California, Davis.
Publisher Copyright:
© 1997 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1997
Y1 - 1997
N2 - 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 (Hong, et al., 1995), 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.
AB - 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 (Hong, et al., 1995), 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.
UR - http://www.scopus.com/inward/record.url?scp=85126959618&partnerID=8YFLogxK
U2 - 10.1115/IMECE1997-0431
DO - 10.1115/IMECE1997-0431
M3 - Conference contribution
AN - SCOPUS:85126959618
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 475
EP - 480
BT - Dynamic Systems and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control
Y2 - 16 November 1997 through 21 November 1997
ER -