HYBRID MOTION CONTROL OF A TRACKED MOBILE ROBOT

摘要

This paper describes the design and implementation of a hybrid control technique for a tracked mobile robot. This controller utilizes an adaptive control algorithm to identify system parameters in real time, which, in turn, are used to reduce the vehicle external error. In order to compensate for the internal errors, a cross-coupling controller is used. A simple vehicle orientation model is introduced. Based on this model, the stability and parameter convergence of the adaptive controller are proven. To guarantee asymptotic parameter convergence, a special error term is added in the estimation model. The experimental results validate this hybrid control approach.