Abstract
The paper presents a robust nonlinear skid-steering control design concept. The control concept is based on the recursive/backstepping control design technique [2,4,5] 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.
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