The paper presents a robust nonlinear skid-steering control design concept. The control concept is based on the recursive/backstepping control design technique and is capable of compensating for uncertainties associated with sensor noise measurements and/or system dynamic state uncertainties. The objective of this control design is to demonstrate the performance of the nonlinear controller under uncertainty associate with road traction (rough off-road and on-road terrain). The MULE vehicle is used in the simulation modeling and results.
A robust nonlinear skid-steering control design applied to the MULE (6x6) unmanned ground vehicle
Unmanned Systems Technology VIII ; 2006 ; Orlando (Kissimmee),Florida,United States
Proc. SPIE ; 6230
2006-05-04
Conference paper
Electronic Resource
English
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