Abstract
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, we have already proposed a model reference sliding control system by using a virtual steer angle demanded from the operator. However, it was assumed that the moment around the center of gravity of the vehicle could be generated as a control input. In this paper, a control subsystem to generate the desired moment is investigated. The unknown tire/road friction property is estimated, then a wheel velocity servo controller is designed in which the reference velocity is determined by the estimated tire/road friction property.
