Sliding-mode trajectory-tracking control for a four-wheel-steering vehicle

Șolea, Răzvan; Filipescu, Adrian; Mînzu, Viorel; Filipescu, Silviu

doi:10.1109/icca.2010.5524422

Cited by 16 publications

(6 citation statements)

References 8 publications

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“…We define the wheel's yaw β, the wheel's roll angle ϕ, and an uncommon characteristic regarding mobility based on the wheel contact point location controlled by the suspension angle γ . Other works have presented vertical motion suspension, 10 but the authors of the present manuscript are not conscious of other works dealing with collinear mobile wheel position correlated to inter the z-turn axis. Our contribution considers z-turn axis mobility within a trapezoid-like xy-plane, as scoped by the instantaneous wheels contact point.…”

Section: Related Workmentioning

confidence: 80%

“…Standard approaches deploy the robot's centre of gravity as the main centre of rotation. 10,30,38 Our general control law is based on purely kinematic differential equations. Our contribution seeks to determine how to control the 12 DOF geometry of motion from both inverse and direct solutions.…”

Section: Related Workmentioning

confidence: 99%

“…Since our mechanical design is original, the first step is to present an exhaustive kinematic analysis. In addition, most studies treat a large number of dynamic problems of wheeled vehicles by assuming forces (i.e., using Newton's second law) and, approaching skid-steer inferences on trajectory tracking control, 2,10,20,30 assuming an a priori knowledge of the kinematics. 9 The proposed method to infer the spinning of a robot's body with respect to its own vertical rotation axis differs from approaches where the centre of mass or the ICR are inferred along the robots longitudinal axis.…”

Section: Related Workmentioning

confidence: 99%

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A multi-configuration kinematic model for active drive/steer four-wheel robot structures

2015

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SUMMARYIn this study, a general kinematic control law for automatic multi-configuration of four-wheel active drive/steer robots is proposed. This work presents models of four-wheel drive and steer (4WD4S) robotic systems with all-wheel active drive and steer simultaneously. This kinematic model comprises 12 degrees of freedom (DOFs) in a special design of a mechanical structure for each wheel. The control variables are wheel yaw, wheel roll, and suspension pitch by active/passive damper systems. The pitch angle implies that a wheel's contact point translates its position over time collinear with the robot's lateral sides. The formulation proposed involves the inference of the virtual z-turn axis (robot's body rotation axis) to be used in the control of the robot's posture by at least two acceleration measurements local to the robot's body. The z-turn axis is deduced through a set of linear equations in which the number of equations is equal to the number of acceleration measurements. This research provides two main models for stability conditions. Finally, the results are sustained by different numerical simulations that validate the system with different locomotion configurations.

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Section: Related Workmentioning

confidence: 80%

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

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A multi-configuration kinematic model for active drive/steer four-wheel robot structures

2015

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“…Hwang used H 2 /H ∞ control method to attenuate the effect of output disturbances (Hwang and Han (2005); Hwang and Chang (2007)), but without addressing the effect of other model uncertainties. Solea and Park applied sliding mode control methods to the control of WMR systems with matched model uncertainties and external disturbances only (Solea et al (2010); Park et al (2009)). …”

Section: Introductionmentioning

confidence: 99%

Modeling and μ -synthesis Based Robust Trajectory Tracking Control of a Wheeled Mobile Robot

Deng

Yao

Zhu

et al. 2014

IFAC Proceedings Volumes

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“…So the mobile robot should move steadily and fast, and its carrying capability should be enough to hold the heaviest patient. For these purposes the 4ws and 4wd wheel mobile robot is selected [3,4]. This robot system consists of a control platform, a special bed board and a wheel mobile robot (Fig.…”

Section: A Introductionmentioning

confidence: 99%

Robot-assisted PET-CT-MRI image fusion

Wang¹,

Wu²,

Sun³

et al. 2011

The 2011 IEEE/ICME International Conference on Complex Medical Engineering

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A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Its design features are super payload capability, precise navigation and positioning, ultrasonic obstacle avoidance and Anti-magnetic. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely.

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Sliding-mode trajectory-tracking control for a four-wheel-steering vehicle

Cited by 16 publications

References 8 publications

A multi-configuration kinematic model for active drive/steer four-wheel robot structures

A multi-configuration kinematic model for active drive/steer four-wheel robot structures

Modeling and μ -synthesis Based Robust Trajectory Tracking Control of a Wheeled Mobile Robot

Robot-assisted PET-CT-MRI image fusion

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