Abstract
This research design and implement a robust dynamic feedback controller for a four-wheel skid steering vehicle (SSV) under high- speed cornering motion. First, SSV dynamics are modeled and analyzed to construct the simulation environment and to validate the per- formance of the proposed algorithm. A robust fuzzy-sliding mode controller is then designed to offset the effect of forces induced by wheel—soil interaction during skidding and ground-level fluctuations. It also eliminates the chattering phenomena encountered with conventional sliding mode control. Given P-3AT mobile robot parameters for trajectory tracking and velocity setting, extensive simula- tion results demonstrate the effectiveness of the proposed controller.
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