By Topic

Modeling Skidding and Slipping in Wheeled Mobile Robots: Control Design Perspective

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Danwei Wang ; Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ. ; Chang Boon Low

This present paper aims to give a general and unifying presentation on modeling of WMRs in the presence of wheel skidding and slipping from the perspective of control design. We present kinematic models that explicitly relate the perturbations to the vehicle skidding and slipping. Four configurations of mobile robots are considered and the perturbations due to skidding and slipping are categorically classified as input additive, input multiplicative, and/or matched/unmatched perturbations. These classifications and formulations lay a base for the deployments of various control design techniques to overcome the addressed perturbations

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

Oct. 2006