Lyapunov-Based PI-Like Control for Robust Trajectory Tracking of a Four-Wheel Independently Driven and Steered Robot: Design and Experimental Validation
Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb（Zagreb大学机械工程与造船工程学院）；Regional Centre of Excellence for Robotic Technology (CRTA)（机器人技术卓越研究中心）；Croatian Academy of Sciences and Arts（克罗地亚科学院）
Branimir Ćaran, Vladimir Milić, Marko Švaco, Bojan Jerbić
备注：
This work has been submitted to the IEEE for possible publication
In this paper, a Lyapunov-based synthesis of a PI-like controller is proposed for robust trajectory tracking of an independently driven and steered four-wheel mobile robot. For the robot considered in this work, an explicit structurally verified mathematical model is used to enable systematic controller design with rigorous stability guarantees suitable for real time implementation. An augmented Lyapunov-based practical stability analysis is developed for the combined velocity-error and integral-error dynamics of the inner loop, yielding explicit bounds and sufficient conditions for practical stability and uniform ultimate boundedness of the combined velocity-error and integral-error state. The resulting control law retains a PI-like structure with model-based feedforward compensation, making it suitable for implementation on standard embedded platforms while improving robustness against configuration dependent residual dynamics and unmodelled effects. The effectiveness and robustness of the proposed design are demonstrated experimentally on a four-wheel independently steered and independently driven mobile robot platform, under both horizontal and vertical operating conditions and benchmarked against a PI controller and a sliding-mode controller.
Characterizing gaussian mixture of motion modes for skid-steer vehicle state estimation
Department of Automotive Engineering,Clemson University, SC, 29634, USA（汽车工程系，克莱姆森大学）；U.S. Army DEVCOM Ground Vehicle Systems Center, Warren, MI 48092, USA（美国陆军 DEVCOM 地面车辆系统中心）
Geometric Control of Mechanical Systems with Symmetries Based on Sliding Modes
College of Electrical Engineering, Zhejiang University, Hangzhou, China（浙江大学电气工程学院）；School of Information Science and Engineering, NingboTech University, Ningbo, China（宁波科技学院信息科学与工程学院）
A3P5 NEMESIS Integrated Rover Design for Environmental Reconnaissance and Robotic Sampling with Reproducible Mobility Analysis and an External Data Machine Learning Calibration Benchmark
St. Joseph Higher Secondary School（圣约瑟夫高等中学）；BAF Shaheen College Kurmitola（孟加拉国空军沙欣学院库尔米托拉分校）；Greenland Residential School（格陵兰寄宿学校）
