TY - GEN
T1 - Coordinated Motion Control for a Six-wheel-drive Skid-steering Mobile Robot
AU - Xu, Yongkang
AU - Wang, Shoukun
AU - Zhao, Hongqiang
AU - Chen, Zhihua
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - A speed consensus control strategy for a six-wheel-drive skid-steering mobile robot was proposed based on a hierarchical controller in a complex environment with unknown disturbances. The effective method of reliable speed consensus control strategy should consider some disturbances, such as the internal-robot assembly error, which including instability of motor control system and external physical interference in robot dynamic system. In this paper, a driving anti-slip control system with PID and the stability control system with sliding mode by variable structure is designed and integrated to elevate the stability of the robot. And, a G-vector control algorithm based on sliding mode control is proposed to reduce the yaw angle as much as possible during the process of differential steering of robots. The effectiveness of the proposed control strategy is verified by an example of a robot.The results show that the method has good control performance in control accuracy and stability.
AB - A speed consensus control strategy for a six-wheel-drive skid-steering mobile robot was proposed based on a hierarchical controller in a complex environment with unknown disturbances. The effective method of reliable speed consensus control strategy should consider some disturbances, such as the internal-robot assembly error, which including instability of motor control system and external physical interference in robot dynamic system. In this paper, a driving anti-slip control system with PID and the stability control system with sliding mode by variable structure is designed and integrated to elevate the stability of the robot. And, a G-vector control algorithm based on sliding mode control is proposed to reduce the yaw angle as much as possible during the process of differential steering of robots. The effectiveness of the proposed control strategy is verified by an example of a robot.The results show that the method has good control performance in control accuracy and stability.
KW - Six-wheel-drive skid-steering mobile robot
KW - consistency of wheel speed
KW - coordinated motion control
KW - sliding rate
UR - http://www.scopus.com/inward/record.url?scp=85128095654&partnerID=8YFLogxK
U2 - 10.1109/CAC53003.2021.9727382
DO - 10.1109/CAC53003.2021.9727382
M3 - Conference contribution
AN - SCOPUS:85128095654
T3 - Proceeding - 2021 China Automation Congress, CAC 2021
SP - 7092
EP - 7097
BT - Proceeding - 2021 China Automation Congress, CAC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 China Automation Congress, CAC 2021
Y2 - 22 October 2021 through 24 October 2021
ER -