TRACKED MOBILE ROBOT CONTROL - HYBRID APPROACH

This paper describes the design and implementation of a hybrid control technique for a tracked mobile robot. This controller utilizes an ada ptive control algorithm to identify system parameters in real time, wh ich, in turn, are used to reduce the vehicle external error. In order to compensate for the internal errors, a cross-coupling controller is used. A simple vehicle orientation model is introduced. Based on this model, the stability and parameter convergence of the adaptive control ler are proven. To guarantee asymptotic parameter convergence, a speci al error term is added in the estimation model. The experimental resul ts validate this hybrid control approach.