A simplified trajectory tracking control based on linear design for Skid-Steered wheeled UGVs

Abstract

This paper proposes a trajectory tracking control strategy for Skid-Steered wheeled UGVs based on a simplified controller design and robust analysis. The position control loops are decoupled by using a virtual orientation angle so that the analysis and design problems can be handled independently as disturbed first-order control systems. The transformed model is useful because it simplifies the robust stability analysis and the definition of the conditions that ensure velocity constraint satisfaction. Furthermore, the proposed analytical control law does not require the solution of any online optimization problem. The usefulness and the design simplicity of the proposed control strategy are illustrated in an experimental case study performed with a Clearpath Husky UGV.