Learn More
This paper describes a dynamic model and cross-coupling control of a mobile robot with four independently steered and driven wheels. The dynamic model incorporates the components of the wheel mechanisms , backlash effects of the wheel actuators and non-linear forces produced by the tire-ground interaction. The problem of computationally efficient control of(More)
The paper presents a cross-coupling controller for a four-wheel steering mobile robot with independently actuated steering and driving of each wheel. The aim of the controller is to minimize slippage during transient states of the vehicle control. Linear approximation of the criterion for no slippage is adopted for the design of the LQR-based cross-coupling(More)
  • 1