Mathematical model of a remotely controlled skid-slip tracked mobile robot

Alessia Ferraro; Vito Antonio Nardi; Valerio Scordamaglia

Mathematical model of a remotely controlled skid-slip tracked mobile robot

Robotics 2023-03-07 v1 Dynamical Systems

Authors: Alessia Ferraro , Vito Antonio Nardi , Valerio Scordamaglia

Abstract

In this paper, an uncertain norm-bounded mathematical model for a remotely controlled skid-slip tracked mobile robot. The linear state space description aims to describe the nonlinear error dynamics of the robot during the trajectory tracking maneuver in the presence of a delay in the control channel, taking into account unknown but bounded slip coefficients.

Keywords

tracked mobile robot skid-slip mathematical model trajectory tracking control delay uncertain system

Cite

@article{arxiv.2303.03033,
  title  = {Mathematical model of a remotely controlled skid-slip tracked mobile robot},
  author = {Alessia Ferraro and Vito Antonio Nardi and Valerio Scordamaglia},
  journal= {arXiv preprint arXiv:2303.03033},
  year   = {2023}
}

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