DocumentCode
2177011
Title
Dynamics-based full-state tracking for a car-like mobile robot
Author
Pham, Minhtuan ; Wang, Danwei
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Volume
2
fYear
2002
fDate
2-5 Dec. 2002
Firstpage
752
Abstract
This paper presents a full-state tracking control scheme for a car-like vehicle. The control law is developed based on a dynamic model of the vehicle together with the definition of a virtual reference point off the vehicle. The proposed controller can track another vehicle moving in front of or track one moving behind it. Simulations show the effectiveness of the proposed controller. The influence of pre-selected parameters on tracking performance is also examined.
Keywords
automobiles; control system analysis computing; digital simulation; mobile robots; position control; tracking; car-like robot; controller; dynamic model; full state tracking control; mobile robot; preselected parameters; tracking performance; virtual reference point; Adaptive control; Cameras; Kinematics; Mobile robots; Nonlinear dynamical systems; Nonlinear systems; Remotely operated vehicles; Stability; Vehicle detection; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN
981-04-8364-3
Type
conf
DOI
10.1109/ICARCV.2002.1238516
Filename
1238516
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