Nonlinear control of electric drive system of four-wheel mobile robot with two differential drive units

This paper contains a solution to the problem of constructing an electric drive control system of a four-wheel mobile robot with two differential drive units. During the synthesis of this system, the asymmetry of the drive units' location was taken into account. This makes it possible to take into account various robot designs. The finished system can be scaled to stabilize the contour movement of mobile robots with more than two rotary blocks. In conclusion, the results of numerical simulations of the control system for various configurations of the wheeled robot are demonstrated.