Host: The Japan Society of Mechanical Engineers
Name : Dynamics and Design Conference 2016
Date : August 23, 2016 - August 26, 2016
This paper presents a traction control strategy for a mobile robot comprising two modules: a normal vehicle with wheels and auxiliary mass module to control the vehicle dynamics by changing the center of gravity. For this strongly nonlinear plant, the authors have already proposed slip a control strategy applying input-output linearization together with integral sliding mode control to achieve robust performance in the presence of model uncertainties and disturbances. In this paper, a searching algorithm to provide the desirable reference slip to the slip controller is proposed based on the extremum seeking method.
