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Control of a Mobile Robot Subject to Wheel Slip

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Abstract

Wheel slip is inevitable when a Wheeled Mobile Robot (WMR) is moving at a high speed or on a slippery surface. In particular, when neither lateral nor longitudinal slips can be ignored in the dynamic model, a WMR becomes an under-actuated nonlinear dynamic system. To study the maneuverability of a WMR in such a realistic environment, we model the overall WMR dynamics subject to wheel slip and propose control algorithms in regulation control and turning control tasks for the WMR. In regulation control, a time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. In turning control, a sliding mode-based extremum seeking control technique is applied to achieve stable and sharp turning. Simulation results are presented to validate the theoretical results.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA

    Yu Tian & Nilanjan Sarkar

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  1. Yu Tian
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  2. Nilanjan Sarkar
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Correspondence to Yu Tian.

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Tian, Y., Sarkar, N. Control of a Mobile Robot Subject to Wheel Slip. J Intell Robot Syst 74, 915–929 (2014). https://doi.org/10.1007/s10846-013-9871-1

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  • DOI: https://doi.org/10.1007/s10846-013-9871-1

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