Performance-Oriented Coordinated Adaptive Robust Control for Four-Wheel Independently Driven Skid Steer Mobile Robot

Four-wheel independently driven skid-steered mobile robots are widely used in the fields of industrial automation and outdoor exploration. In most of existing controllers of skid-steered mobile robots, the wheel velocities are controlled independently to track the desired velocities from the high-level kinematic controller. However, this kind of control method may lead to chattering phenomenon of skidsteered mobile robots in practice, when the desired velocity commands of four wheels are not matched under different ground conditions. In this paper, the coordinated control problem is investigated for the four-wheel independently driven skid steer mobile robots, so as to solve the chattering phenomenon and also achieve good control performance under different ground conditions. Since the mobile robots are overactuated and lack of suspension systems, a coordinated adaptive robust control scheme integrated with torque allocation technique is proposed. First, an adaptive robust control law is developed to attenuate the negative effects of load variations and uncertainties. Second, instead of directly giving the desired velocity commands, a torque control and allocation algorithm is developed to regulate the driving torque of each wheel motor. A coordinated control law with considering the wheel slip compensation is also proposed. Comparative experiments are carried out, and the results show the proposed scheme can avoid the chattering problem and achieve the excellent performance under different ground conditions.