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Abstract
By applying a nonholonomic constraints and Lagrange equation for nonholonomic system, a method is given to model and control the 4-wheel skid-steering mobile robot which tracks a given trajectory. First at all, a fundamental of nonholonomic system is introduced. Next, the skid steering robot’s kinematic model and dynamic model are considered. To control the robot tracking a trajectory, a new algorithm is given by applying feedback linearization and PD control. In addition, simulation results show the good performance in tracking trajectories.
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Article Details
Issue: Vol 13 No 3 (2010)
Page No.: 83-94
Published: Sep 30, 2010
Section: Engineering and Technology - Research article
DOI: https://doi.org/10.32508/stdj.v13i3.2137
Copyright Info
Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
How to Cite
Dang, N., & Nguyen, K. (2010). TRAJECTORY TRACKING CONTROL FOR 4 WHEEL SKID-STEERING MOBILE ROBOT. Science and Technology Development Journal, 13(3), 83-94. https://doi.org/https://doi.org/10.32508/stdj.v13i3.2137
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