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General information |
| Author |
Hwang, Eun-Ju; Kang, Hyo-Seok; Hyun, Chang-Ho; Park, Mignon |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper represents a robust backstepping
tracking control based on a Lyapunov redesign for
Skid‐Steered Wheeled Mobile Robots (WMRs). We present
kinematic and dynamic models that explicitly relate the
perturbations to the skidding in order to improve the
tracking performance during real running. A robust
controller is synthesized in the backstepping approach and
the Lyapunov redesign technique, which forces the error
dynamics to stabilize to the reference trajectories. We
design an additional feedback control ‐ a Lyapunov
redesign ‐ such that the overall control stabilizes the actual
system in the presence of uncertainty and perturbation
with the knowledge of the Lyapunov function. Simulation
results are provided to validate and analyse the
performance and stability of the proposed controller. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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