Abstract
This paper considers the trajectory tracking problem for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The robot is modeled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. A nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is designed for this model. Since several parameters in the model, in particular the ground-wheel contact friction, are not well known a priori, a robustness analysis is carried out for bounded uncertainties. It is demonstrated that uncertainties can render the closed-loop system unstable, and two approaches to avoid this are suggested
Originalsprog | Dansk |
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Udgiver | <Forlag uden navn> |
Status | Udgivet - 2002 |