Adaptive/variable structure control of car-like mobile robot in four wheel dynamical model framework

Presents an adaptive/variable structure control algorithm for the four wheel dynamical model of the vehicle with nonholonomic constraints. The controller uses the idea of virtual car with feedback on the path, so that the real car follows the virtual car. We do not assume that the vehicle parameters such as vehicle mass, inertia moment etc., are known. The controller uses measurements of the position and orientation of the car as well as the yaw rate