Position Tracking Control of a Skid-Steering Vehicle Robot

Abstract

This paper proposes a position tracking controller for a skid-steering vehicle robot based on the back-stepping method with the Dynamic Surface Control (DSC). Since the mathematical model of this robot can not be expressed in the socalled strict feedback form, there are many potential controllers to achieve robust position tracking even based on the BS method. It is shown through numerical simulation that the proposed controller is one of the robust controllers at the presence of model uncertainty with respect to the ground condition.