The skid steering technique has been widely used in controlling mobile vehicles without steering wheels because of light-weight and relatively simple structural configuration for steering motion control. However, since the skid controlled mobile platform system is based on nonholonomic constraint, it is essential to linearizing the nonlinear dynamic model of the vehicle for improving the stability of traction control. Recently developed ventilation duct cleaning robot with moving brushing arm also utilizes the skid steering system for traction control. Since the moving brush arm may change the mass center of the platform and effect on dynamics consequently, a new control scheme is suggested and simulated to achieve the stable trajectory tracking and driving motion of the developed mobile platform.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A stable tracking control of skid steered mobile platform


    Beteiligte:
    Jeon, Seungwoo (Autor:in) / Jeong, Wootae (Autor:in) / Park, Duckshin (Autor:in)


    Erscheinungsdatum :

    01.09.2014


    Format / Umfang :

    455302 byte



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    SKID STEERED ALL TERRAIN VEHICLE

    WENGER URS / KOHLER BEAT / JENNI HANS-RUDOLF | Europäisches Patentamt | 2016

    Freier Zugriff

    SKID STEERED ALL-TERRAIN VEHICLE

    URS WENGER / BEAT KOHLER / HANS-RUDOLF JENNI | Europäisches Patentamt | 2020

    Freier Zugriff

    SKID STEERED ALL-TERRAIN VEHICLE

    URS WENGER / BEAT KOHLER / HANS-RUDOLF JENNI | Europäisches Patentamt | 2021

    Freier Zugriff

    SKID STEERED ALL TERRAIN VEHICLE

    URS WENGER / BEAT KOHLER / HANS-RUDOLF JENNI | Europäisches Patentamt | 2015

    Freier Zugriff

    SKID STEERED ALL-TERRAIN VEHICLE

    URS WENGER / BEAT KOHLER / HANS-RUDOLF JENNI | Europäisches Patentamt | 2018

    Freier Zugriff