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Proceedings Paper

A robust nonlinear skid-steering control design applied to the MULE (6x6) unmanned ground vehicle
Author(s): Joseph Kaloust
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Paper Abstract

The paper presents a robust nonlinear skid-steering control design concept. The control concept is based on the recursive/backstepping control design technique and is capable of compensating for uncertainties associated with sensor noise measurements and/or system dynamic state uncertainties. The objective of this control design is to demonstrate the performance of the nonlinear controller under uncertainty associate with road traction (rough off-road and on-road terrain). The MULE vehicle is used in the simulation modeling and results.

Paper Details

Date Published: 9 May 2006
PDF: 10 pages
Proc. SPIE 6230, Unmanned Systems Technology VIII, 623025 (9 May 2006); doi: 10.1117/12.665671
Show Author Affiliations
Joseph Kaloust, Lockheed Martin Missiles and Fire Control (United States)

Published in SPIE Proceedings Vol. 6230:
Unmanned Systems Technology VIII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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