A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation

Abstract

A skid-steering mobile robot steers by creating a moment that is larger than the frictional moment which results in a lateral slippage also known as skidding. This moment is in turn generated by a difference of the forces originated from the two sides of the robot. Tracking a given trajectory using this type of steering mechanism is not easy since it requires to relate skidding to steering. A necessary condition for the stability of skid-steering mobile robots is that the longitudinal component of the instantaneous center of rotation (ICR) resides within the robot dimension. In the present work, we propose a novel trajectory-tracking control design using a backstepping technique that guarantees the Lyapunov stability and that satisfies this necessary condition by relating the longitudinal component of the "desired ICR" to the curvature of a given trajectory and the reference linear speed. Finally, we compare the performance of the proposed controller to that of other existing controllers for skid-steering mobile robots and show the robustness of the proposed controller even in the presence of modeled sensory noise and control time delay in simulation. 53rd IEEE Conference on Decision and Control

Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots

“…to make the calculations shown in the next section more compact. By using (31), we are in position to compute the internal dynamics as follows:…”

“…The controller given there corresponds to a dynamic feedback linearization algorithm. Furthermore, Jun et al [31] proposed a controller using a backstepping technique that guarantees the Lyapunov stability. The controllers reported in [21,31] have been numerically simulated in order to compare their performance with respect to the controller introduced in this paper.…”

“…Friction compensation was proposed in [30] in order to improve performance. An adaptive control approach was introduced in [31]. The intelligent optimization of the parameters of a nonlinear controller for controlling a skidsteering mobile robot was introduced in [32].…”

On-Line Learning and Updating Unmanned Tracked Vehicle Dynamics

“…Recently, approaches based on dynamic model of vehicle for optimal path planning and tracking control of unmanned ground vehicles (UGV) were proposed in Reference [20,21]. Moreover, a novel approach introduced in Reference [22] employs a backstepping technique to robustly control the instantaneous center of rotation position of the vehicle so that it relates to the path curvature and the desired vehicle speed. The backstepping method was also utilized by Zou et al [13], who designed a modified PID computed-torque controller for an unmanned tracked vehicle.…”

A Simplified Optimal Path Following Controller for an Agricultural Skid-Steering Robot

“…Based on the vehicle dynamics, [13] and [14] present a controller considering the problem of practical stabilization for skid-steering mobile robots also known as SSMR and a unified tracking and regulation control law. Based on a backstepping procedure that guarantees the Lyapunov stability, [15] presents also a controller design based on the skid-steering dynamics. Using nonlinear model predictive control, [16] presents a controller design by means of a Jacobian motion planning based on the Endogenous Configuration Space.…”