Mathematical model of a remotely controlled skid-slip tracked mobile robot

2023/03/06 by Ferraro, Alessia, Nardi, Vito Antonio, Scordamaglia, Valerio
#Dynamical Systems (math.DS) #FOS: Computer and information sciences #FOS: Mathematics #Robotics (cs.RO)

paper · doi:10.48550/arxiv.2303.03033

Abstract

In this paper, an uncertain norm-bounded mathematical model for a remotely controlled skid-slip tracked mobile robot. The linear state space description aims to describe the nonlinear error dynamics of the robot during the trajectory tracking maneuver in the presence of a delay in the control channel, taking into account unknown but bounded slip coefficients.

Related

• A robust trajectory tracking controller for four-wheel skid-steering mobile robots
• Trajectory Tracking Control of Skid-Steering Mobile Robots with Slip and Skid Compensation using Sliding-Mode Control and Deep Learning
• Mathematical model stabilization control of a robot due to the delay of the control signal
• A Tutorial on Modeling and Control of Slippage in Wheeled Mobile Robots
• Real-Time Nonlinear Model Predictive Control of Heavy-Duty Skid-Steered Mobile Platform for Trajectory Tracking Tasks