抄録
This paper discusses an application of sliding mode control theories to remote automatic operation of skid steer vehicle. Since it is very hard to control the angular velocity of the left-right wheel directly by an operator at middle or high speed, a virtual steer angle, which can be seen as the demanded proceeding direction of the vehicle, is introduced. Then, a desired stable model, which consists of a part of linearly approximated model of front wheel steer vehicle and a linearly approximated model of skid steer vehicle, is proposed as a reference model to be followed by the real vehicle. In order to achieve the desired dynamics robustly against disturbances or model uncertainties, a sliding mode controller is designed.
