Abstract
This paper discusses semi-autonomous control 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 controller is designed so that the vehicle can make a turn as desired while the vehicle velocity should be regulated. In order to simplify the procedure of controller design, an appropriate transformation of the state variables and sliding mode control theories are employed, which yields two approximately decoupled subsystems with a single input.
