Title :
Control of a car-like robot using a virtual vehicle approach
Author :
Egerstedt, M. ; Hu, X. ; Stotsky, A.
Author_Institution :
Div. of Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden
fDate :
29 Jun-1 Jul 1998
Abstract :
A solution to the problem of controlling a car-like nonholonomic robot is proposed using a “virtual” vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model, in which, for instance, the side slip angles are taken into account
Keywords :
mobile robots; path planning; position control; robot dynamics; robust control; car-like robot; dynamical model; model independent algorithms; nonholonomic robot; side slip angles; stability analysis; virtual vehicle approach; Differential equations; Error correction; Measurement errors; Open loop systems; Robots; Robustness; Stability analysis; Steady-state; Trajectory; Vehicle dynamics;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743545
