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6WD_controller_6204

This project is created for the class ELE6204A at Polytechnique Montreal, as a project on nonlinear systems. The goal is to implement a 6 wheel skid-steering control for a robot. The system is not fully functionnal at the moment, depending mainly on wheel friction coefficients and speed necessaries to operate the robot.

This is the implementation of a 6WD controller based on the article: "Dynamic control of the 6WD skid-steering mobile robot RobuROC6 using sliding mode technique" by E. Lucet et al.

This ROS controller is based on the tutorials and examples of of:

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