C215 可変ピッチブレードを有する車両型ロボットの制御(OS9 非線形制御理論とその応用2)

抄録

This paper presents a control strategy for a wheeled mobile robot with variable pitch blades which make it highly mobile over irregular terrain. A mathematical model of the robot is developed when it is climbing a step, and input-output linearization is employed together with integral sliding mode control for robust performance against model uncertainty such as road adhesion property.