Research on Skid Steering Control of Four-Wheel Robot Driven by Two Motors

The skid steering control strategy of four-wheel robot driven by two motors is designed. Firstly, a three degree of freedom dynamic model of four-wheel robot skid steering is established, and a sliding mode control algorithm based on exponential approach law is used to track the yaw angle velocity of the target and calculate the yaw moment of the four-wheel robot. The longitudinal velocity is controlled by the PID feedback, and the output is the total longitudinal force, which can track the longitudinal velocity. The slip angle of four tires is calculated by the skid steering kinematics model of a four-wheel robot, and the relationship between vertical load and cornering stiffness of tires is fitted from the experimental data. The torque assigned to the two motors is calculated. The simulation and experimental results show that the skid steering control strategy designed for two-motor driven four-wheel robot has good performance and strong stability, which can solve the control problem of four-wheel robot.