TY - GEN
T1 - Dynamic yaw and velocity control of the 6WD skid-steering mobile robot RobuROC6 using sliding mode technique
AU - Lucet, Eric
AU - Grand, Christophe
AU - Sallé, Damien
AU - Bidaud, Philippe
PY - 2009/12/11
Y1 - 2009/12/11
N2 - A robust dynamic feedback controller is designed and implemented, based on the dynamic model of the six-wheel skid-steering RobuROC6 robot, performing high speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main object of this paper is to elaborate a sliding mode controller, proved to be robust enough to ignore the knowledge of the forces within the wheel-soil interaction, in the presence of sliding phenomena and ground level fluctuations. Finally, a 3D simulation is performed with an accurate physical engine to evaluate the efficiency of this designed control law.
AB - A robust dynamic feedback controller is designed and implemented, based on the dynamic model of the six-wheel skid-steering RobuROC6 robot, performing high speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main object of this paper is to elaborate a sliding mode controller, proved to be robust enough to ignore the knowledge of the forces within the wheel-soil interaction, in the presence of sliding phenomena and ground level fluctuations. Finally, a 3D simulation is performed with an accurate physical engine to evaluate the efficiency of this designed control law.
UR - https://www.scopus.com/pages/publications/76249104548
U2 - 10.1109/IROS.2009.5354373
DO - 10.1109/IROS.2009.5354373
M3 - Conference contribution
AN - SCOPUS:76249104548
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 4220
EP - 4225
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -