Control of a Mobile Robot Subject to Wheel Slip

Wheel slip is inevitable when a Wheeled Mobile Robot (WMR) is moving at a high speed or on a slippery surface. In particular, when neither lateral nor longitudinal slips can be ignored in the dynamic model, a WMR becomes an under-actuated nonlinear dynamic system. To study the maneuverability of a W...

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Bibliographic Details
Published inJournal of intelligent & robotic systems Vol. 74; no. 3-4; pp. 915 - 929
Main Authors Tian, Yu, Sarkar, Nilanjan
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.06.2014
Springer Nature B.V
Subjects
Artificial Intelligence
Control
Control systems
Control theory
Dynamical systems
Electrical Engineering
Engineering
Mechanical Engineering
Mechatronics
Nonlinear dynamics
Robotics
Robots
Slip
Turning
Wheels
Traction force
Wheeled mobile robot
Underactuated system
Extremum seeking control
Wheel slip
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Summary:Wheel slip is inevitable when a Wheeled Mobile Robot (WMR) is moving at a high speed or on a slippery surface. In particular, when neither lateral nor longitudinal slips can be ignored in the dynamic model, a WMR becomes an under-actuated nonlinear dynamic system. To study the maneuverability of a WMR in such a realistic environment, we model the overall WMR dynamics subject to wheel slip and propose control algorithms in regulation control and turning control tasks for the WMR. In regulation control, a time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. In turning control, a sliding mode-based extremum seeking control technique is applied to achieve stable and sharp turning. Simulation results are presented to validate the theoretical results.
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ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-013-9871-1