Mathematical model of a remotely controlled skid-slip tracked mobile robot
Alessia Ferraro, Vito Antonio Nardi, Valerio Scordamaglia
TL;DR
This paper develops an uncertain mathematical model for a remotely controlled skid-slip tracked robot, capturing nonlinear error dynamics with delays and slip uncertainties to improve trajectory tracking performance.
Contribution
It introduces a novel linear state space model that accounts for delay and slip uncertainties in skid-slip tracked robots during trajectory control.
Findings
Model accurately describes nonlinear error dynamics
Effectively incorporates control delays and slip uncertainties
Provides a foundation for improved control strategies
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.
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Taxonomy
TopicsControl and Dynamics of Mobile Robots · Mathematical Control Systems and Analysis · Aerospace Engineering and Control Systems