A robust nonlinear skid-steering control design applied to the MULE (6x6) unmanned ground vehicle

Joseph Kaloust

doi:10.1117/12.665671

9 May 2006 A robust nonlinear skid-steering control design applied to the MULE (6x6) unmanned ground vehicle

Joseph Kaloust

Proceedings Volume 6230, Unmanned Systems Technology VIII; 623025 (2006) https://doi.org/10.1117/12.665671
Event: Defense and Security Symposium, 2006, Orlando (Kissimmee), Florida, United States

Abstract

The paper presents a robust nonlinear skid-steering control design concept. The control concept is based on the recursive/backstepping control design technique and is capable of compensating for uncertainties associated with sensor noise measurements and/or system dynamic state uncertainties. The objective of this control design is to demonstrate the performance of the nonlinear controller under uncertainty associate with road traction (rough off-road and on-road terrain). The MULE vehicle is used in the simulation modeling and results.

Citation Download Citation

Joseph Kaloust "A robust nonlinear skid-steering control design applied to the MULE (6x6) unmanned ground vehicle", Proc. SPIE 6230, Unmanned Systems Technology VIII, 623025 (9 May 2006); https://doi.org/10.1117/12.665671

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available