Robust Control of Differentially Driven Mobile Platforms
Wheeled mobile platforms constitute an important group of robotic objects. They can be treated as independent robots or as a transportation part of a composite robotic assembly, for instance mobile manipulators. Depending on the kind of the wheels and the way in which they are fixed to the cart, motion of wheeled mobile platforms can be realized with or without slippage phenomenon. If no slippage effect between the wheels and the surface occurs, then there exists some equation describing forbidden directions of realized velocities of the system. Such a relationship is called the nonholonomic constraint in the platform’s motion.
KeywordsControl Algorithm Slide Mode Control Trajectory Tracking Mobile Platform Nonholonomic Constraint
Unable to display preview. Download preview PDF.
- 1.Caracciolo, L., De Luca, A., Iannitti, S.: Trajectory tracking control of a four-wheel differentially driven mobile robot. In: Proc. IEEE Int. Conf. Rob. Aut., pp. 2632–2638. Michigan, Detroit (1999)Google Scholar
- 4.Kozłowski, K., Pazderski, D.: Practical stabilization of a skid-steering mobile robot – a kinematic-based approach. In: Proc. 3rd Int. Conf. Mechatr., Madras, pp. 520–524 (2006)Google Scholar
- 5.Krstić, M., Kanellakopoulos, I., Kokotović, P.: Nonlinear and Adaptive Control Design. J. Wiley and Sons, New York (1995)Google Scholar
- 6.Lewis, A.D.: When is mechanical control system kinematic? In: Proc. 38th Conf. Dec. Contr., Phoenix, Arizona, pp. 1162-1167 (1999)Google Scholar
- 7.Pazderski, D., Kozłowski, K.: Trajectory tracking of underactuated skid-steering robot. In: Proc. Amer. Contr. Conf., Seattle, WA, pp. 3506–3511 (2008)Google Scholar