Robust motion control of a four wheel drive skid-steered mobile robot

@article{Arslan2011RobustMC,
  title={Robust motion control of a four wheel drive skid-steered mobile robot},
  author={Sercan Arslan and Hakan Temeltas},
  journal={2011 7th International Conference on Electrical and Electronics Engineering (ELECO)},
  year={2011},
  pages={II-415-II-419}
}
In this paper robust motion control of a four wheel drive skid-steered mobile robot (4WD SSMR) is presented. We have developed a motion control system where a kinematic trajectory tracking controller based on the vector field orientation (VFO) strategy and a robust dynamic velocity controller based on the sliding mode control (SMC) technique and the computed torque method (CTM) are combined. Asymptotic stability for a class of reference trajectories is guaranteed by the VFO method while the… CONTINUE READING

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Modeling and control of a 4-wheel skid-steering mobile robot: From theory to practice

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  • Budapest Polytechnic Jubilee Conference, Science…
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