自动化学报2023，Vol.49Issue(7)：1421-1432,12.DOI:10.16383/j.aas.c220326
基于分层控制策略的六轮滑移机器人横向稳定性控制
Lateral Stability Control of Six-wheeled Skid-steering Robot Based on Hierarchical Control Strategy
摘要
关键词
分层控制策略/横向稳定性/滑移转向/滑模控制/转矩分配Key words
Hierarchical control strategy/lateral stability/skid-steering/sliding mode control/torque distribution引用本文复制引用
于力率,苏晓杰,孙少欣,焦春亭..基于分层控制策略的六轮滑移机器人横向稳定性控制[J].自动化学报,2023,49(7):1421-1432,12.基金项目
广东省重点研发计划(2020B0909020001),国家自然科学基金(62173051,62103066,62003061),中国博士后科学基金(2021 TQ0392,2021M700592),重庆市技术创新与应用发展专项重点项目(cstc2021jscx-gksbX0030)资助Supported by Key Research and Development Program of Guangdong(2020B0909020001),National Natural Science Found-ation of China(62173051,62103066,62003061),Postdoctoral Sci-ence Foundation of China(2021TQ0392,2021M700592),and Spe-cial Key Projects of Technological Innovation and Application Development of Chongqing(cstc2021jscx-gksbX0030) （2020B0909020001）
