| Popis: |
This paper is devoted to mechanical and control analysis of steering systems of fast wheeled robots. Steering performances are analysed by means of a formulation of a path-tracking control problem. The mechanical model takes into account the wheel-sliding and wheel-elasticity which are relevant to the steering behaviour. When the path is a straight line or a circular arc, the tracking offsets are small and the assigned velocity is constant, the proposed tracking scheme leads to a controller using direct state feedback and linear quadratic regulation approach. Four different steering ways are examined, they combine steer and drive actions on a four wheeled robots. |
