Robust Adaptive Stabilization of Skid Steer Wheeled Mobile Robots Considering Slipping Effects

Abstract

This paper represents the posture stabilization of a skid steer wheeled mobile robot (SSWMR). Although in mobile robots lateral skidding of the wheels occurs when turning at high speed, wheels of a SSWMR laterally skid in every rotational maneuver even at low speeds. Also, longitudinal slipping for wheeled mobile robots with pneumatic tires is inevitable due to tire deformation. In order to compensate for the effects of tire slippage and parameter uncertainties, an adaptive torque controller is developed based on a tunable dynamic oscillator. The globally uniformly ultimately bounded stability of the system to an arbitrarily small neighborhood of the origin is proved. The internal dynamics stability of the system is guaranteed employing a supervisory fuzzy logic-based controller. To demonstrate the performance of the proposed controller, modeling of a SSWMR was implemented through automatic dynamic analysis of mechanical systems (ADAMS).