Title :
Practical Stabilization of a Skid-steering Mobile Robot - A Kinematic-based Approach
Author :
Kozlowski, Krzysztof ; Pazderski, Dariusz
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Univ. of Technol.
Abstract :
This paper presents kinematic control problem of skid-steering mobile robot using practical smooth and time-varying stabilizer. The stability result is proved using Lyapunov analysis and takes into account both input signal saturation and uncertainty of kinematics. In order to ensure stable motion of the robot the condition of permissible velocities is formulated according to dynamic model and wheel-surface interaction. Theoretical considerations are illustrated by simulation results
Keywords :
Lyapunov methods; mobile robots; robot kinematics; stability; steering systems; time-varying systems; uncertain systems; Lyapunov analysis; input signal saturation; kinematic control; permissible velocities; practical stabilization; skid-steering mobile robot; time-varying stabilizer; wheel-surface interaction; Angular velocity; Angular velocity control; Control systems; Land vehicles; Mobile robots; Oscillators; Robot kinematics; Robust control; Robust stability; Vehicle dynamics;
Conference_Titel :
Mechatronics, 2006 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-9712-6
Electronic_ISBN :
0-7803-9713-4
DOI :
10.1109/ICMECH.2006.252581
