• DocumentCode
    1575392
  • Title

    Robust recursive control of a skid-steering mobile robot

  • Author

    Inoue, R.S. ; Cerri, Joao P. ; Terra, M.H. ; Siqueira, Adriano A. G.

  • Author_Institution
    Dept. of Electr. Eng., Fed. Univ. of Sao Carlos, São Carlos, Brazil
  • fYear
    2013
  • Firstpage
    1
  • Lastpage
    6
  • Abstract
    This paper is concerned with the robust control of a skid-steering mobile robot (SSMR). A robust recursive controller for linear state-space systems subject to parametric uncertainties is considered to deal with the SSMR tracking problem. Simulation results of the application of this regulator using the dynamic model equations of a SSMR shows the effectiveness of this approach.
  • Keywords
    linear systems; mobile robots; robust control; state-space methods; trajectory control; uncertain systems; SSMR tracking problem; dynamic model equation; linear state-space system; parametric uncertainty; robust recursive control; skid-steering mobile robot; Kinematics; Mobile robots; Regulators; Robustness; Trajectory; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Advanced Robotics (ICAR), 2013 16th International Conference on
  • Conference_Location
    Montevideo
  • Type

    conf

  • DOI
    10.1109/ICAR.2013.6766516
  • Filename
    6766516
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1575392