Coordinated Motion Control for a Six-wheel-drive Skid-steering Mobile Robot

Yongkang Xu, Shoukun Wang, Hongqiang Zhao*, Zhihua Chen

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

3 引用 (Scopus)

摘要

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.

源语言英语
主期刊名Proceeding - 2021 China Automation Congress, CAC 2021
出版商Institute of Electrical and Electronics Engineers Inc.
7092-7097
页数6
ISBN(电子版)9781665426473
DOI
出版状态已出版 - 2021
活动2021 China Automation Congress, CAC 2021 - Beijing, 中国
期限: 22 10月 202124 10月 2021

出版系列

姓名Proceeding - 2021 China Automation Congress, CAC 2021

会议

会议2021 China Automation Congress, CAC 2021
国家/地区中国
Beijing
时期22/10/2124/10/21

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