Abstract

This paper discusses dynamic modeling and robust control of a differentially steered mobile robot subject to wheel slip and external loads. Consideration of wheel slip and external loads is crucial for high load and/or high speed applications because they act as disturbances to the system. Furthermore, a tire model that adequately accounts for the tire/ground interaction is essential and Dugoff's pneumatic tire friction model is utilized herein in deriving the dynamic equations of motion of the mobile robot. It is shown that the dynamic equations satisfy the matching condition, and the variable structure control method is employed to design a tracking controller of the mobile robot. Numerical simulation shows the promise of the developed control algorithm.

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