Fuzzy sliding mode control algorithm for a four-wheel skid steer vehicle

This research design and implement a robust dynamic feedback controller for a four-wheel skid steering vehicle (SSV) under highspeed cornering motion. First, SSV dynamics are modeled and analyzed to construct the simulation environment and to validate the performance 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 simulation results demonstrate the effectiveness of the proposed controller.

[1]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[2]  Mahyar Naraghi,et al.  A vision-based intelligent path following control of a four-wheel differentially driven skid steer mobile robot , 2008, 2008 10th International Conference on Control, Automation, Robotics and Vision.

[3]  Chang-Soo Han,et al.  Modeling and Simulation of Six Wheel Skid Steering Vehicle (6×6) for Development of Torque Control Algorithm , 2009 .

[4]  Antonios Tsourdos,et al.  Intelligent control of a multi-actuator mobile robot with competing factors , 2003, The 12th IEEE International Conference on Fuzzy Systems, 2003. FUZZ '03..

[5]  Mahyar Naraghi,et al.  Sliding mode fuzzy control of a skid steer mobile robot for path following , 2008, 2008 10th International Conference on Control, Automation, Robotics and Vision.

[6]  Kenichiro Nonaka,et al.  Sliding Mode Control of a Skidding Car , 2004 .

[7]  D. Pazderski,et al.  Trajectory tracking of underactuated skid-steering robot , 2008, 2008 American Control Conference.

[8]  John Y. Hung,et al.  Variable structure control: a survey , 1993, IEEE Trans. Ind. Electron..

[9]  Wolfgang Hirschberg,et al.  User-Appropriate Tyre-Modelling for Vehicle Dynamics in Standard and Limit Situations , 2002 .

[10]  Raymond M. Brach,et al.  Modeling Combined Braking and Steering Tire Forces , 2000 .

[11]  Philippe Bidaud,et al.  Sliding-Mode Velocity and Yaw Control of a 4WD Skid-Steering Mobile Robot , 2010 .

[12]  Pierre Sicard,et al.  Fuzzy-Sliding Mode Speed Control for Two Wheels Electric Vehicle Drive , 2009 .

[13]  Alessandro De Luca,et al.  Trajectory tracking control of a four-wheel differentially driven mobile robot , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[14]  Mahdi Jalili,et al.  Sliding mode traction control of an electric vehicle with four separate wheel drives , 2003, EFTA 2003. 2003 IEEE Conference on Emerging Technologies and Factory Automation. Proceedings (Cat. No.03TH8696).

[15]  Ryan Gariepy,et al.  Position control of a 6×6 ATV using a MIMO fuzzy controller , 2010, Proceedings of the 2010 American Control Conference.

[16]  Bruce Maclaurin.  A skid steering model using the Magic Formula , 2011 .

[17]  Maarouf Saad,et al.  A higher level path tracking controller for a four-wheel differentially steered mobile robot , 2006, Robotics Auton. Syst..

[18]  Dariusz Pazderski,et al.  Modeling and control of a 4-wheel skid-steering mobile robot , 2004 .

[19]  Philippe Bidaud,et al.  Dynamic yaw and velocity control of the 6WD skid-steering mobile robot RobuROC6 using sliding mode technique , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Raymond M. Brach,et al.  Tire Models for Vehicle Dynamic Simulation and Accident Reconstruction , 2009 .