Sliding-Mode Velocity and Yaw Control of a 4WD Skid-Steering Mobile Robot

Lucet, Éric; Grand, Christophe; Bidaud, Philippe

doi:10.1007/978-3-642-16259-6_19

Cited by 8 publications

(4 citation statements)

References 7 publications

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“…For SSWMR the path following is achieved using techniques such as sliding mode controller, fuzzy logic controller and Lyapunov based controller. The sliding mode controller is used on a 4WD skid-steer robot in the presence of slippage for following the desired path (Lucet et al , 2010). The sliding mode control technique guarantees the robustness in the presence of slippage and time-varying trajectories.…”

Section: Control Techniques For Skid-steer Wheeled Mobile Robotsmentioning

confidence: 99%

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Khan

Malik

Raza

et al. 2020

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Purpose The purpose of this paper is to provide a comprehensive and unified presentation of recent developments in skid-steer wheeled mobile robots (SSWMR) with regard to its control, guidance and navigation for the researchers who wish to study in this field. Design/methodology/approach Most of the contemporary unmanned ground robot’s locomotion is based upon the wheels. For wheeled mobile robots (WMRs), one of the prominent and widely used driving schemes is skid steering. Because of mechanical simplicity and high maneuverability particularly in outdoor applications, SSWMR has an advantage over its counterparts. Different prospects of SSWMR have been discussed including its design, application, locomotion, control, navigation and guidance. The challenges pertaining to SSWMR have been pointed out in detail, which will seek the attention of the readers, who are interested to explore this area. Findings Relying on the recent literature on SSWMR, research gaps are identified that should be analyzed for the development of autonomous skid-steer wheeled robots. Originality/value An attempt to present a comprehensive review of recent advancements in the field of WMRs and providing references to the most intriguing studies.

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Section: Control Techniques For Skid-steer Wheeled Mobile Robotsmentioning

confidence: 99%

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Khan

Malik

Raza

et al. 2020

View full text Add to dashboard Cite

show abstract

“…A major drawback of SMC method is the high frequency chattering phenomenon due to its discontinuous control part [ 12 ]. Lucet et al [ 13 , 14 ] proposed a robust algorithm for the compensation of skidding phenomena in SSV. However, in the aforementioned methods, the increase in power consumption due to chattering phenomena was reported.…”

Section: Introductionmentioning

confidence: 99%

Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations

et al. 2021

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Skid-steered vehicles (SSV) are gaining huge importance in the market due to their applications like construction, agricultural work, material handling etc. The accuracy of performing such tasks require a robust control algorithm. The design of such controller is very challenging task due to external disturbances caused by wheel-ground interaction and aerodynamic effects. This paper proposes robust fractional and integral order fuzzy sliding mode controllers (FSMC, FFSMC) for a skid-steered vehicles with varying coefficient of friction and a displaced center of gravity (CG). FFSMC controller reduces the outcome of forces generated as a result of ground tire interaction during skidding and friction variations. The proposed controllers are implemented for a four-wheel SSV under high-speed turning motion. A simulation environment is constructed by implementing the SSV dynamics with wheel-road model and the performance of the proposed algorithms is tested. The simulation test is conducted for a Pioneer-3AT (P-3AT) robot SSV vehicle with displaced CG and variable coefficient of tires friction. Simulation results demonstrate the efficiency of the proposed FFSMC algorithm in term of reduced state errors and minimum chattering. The proposed controller compensates the effect of different responses of the wheels generated as a result of variable CG. The chattering phenomenon generated by conventional SMCs is also minimized by fuzzy tuning approach.

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“…The control system relies on robot dynamics model and certain adaptation rules to estimate the unknown parameter. Lucet et al (2010) implemented a sliding-mode controller in four-wheeled robot. Its algorithm relies on the dynamics model of robot.…”

Section: Introductionmentioning

confidence: 99%

Wind-driven land-yacht robot mathematical modeling and verification

Chen

Xie

Luo

et al. 2016

Industrial Robot: An International Journal

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Purpose – The purpose of this paper was to solve the shortage of carrying energy in probing robot and make full use of wind resources in the Antarctic expedition by designing a four-wheel land-yacht. Land-yacht is a new kind of mobile robot powered by the wind using a sail. The mathematical model and trajectory of the land-yacht are presented in this paper. Design/methodology/approach – The mechanism analysis method and experimental modeling method are used to establish a dual-input and dual-output mathematical model for the motion of land-yacht. First, the land-yacht’s model structure is obtained by using mechanism analysis. Then, the models of steering gear, servomotors and force of wing sail are analyzed and validated. Finally, the motion of land-yacht is simulated according to the mathematical model. Findings – The mathematical model is used to analyze linear motion and steering motion. Compared with the simulation results and the actual experimental tests, the feasibility and reliability of the proposed land-yacht modeling are verified. It can travel according to the given signal. Practical implications – This land-yacht can be used in the Antarctic, outer planet or for harsh environment exploration. Originality/value – A land-yacht is designed, and the contribution of this research is the development of a mathematical model for land-yacht robot. It provides a theoretical basis for analysis of the land-yacht’s motion.

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Sliding-Mode Velocity and Yaw Control of a 4WD Skid-Steering Mobile Robot

Cited by 8 publications

References 7 publications

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations

Wind-driven land-yacht robot mathematical modeling and verification

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