Title :
Nonlinear control of multidrive vehicular robots
Author :
Miroshnik, Iliya V. ; Lyamin, Andrey V.
Author_Institution :
Dept. of Autom. & Remote Control, Inst. for Fine Mech. & Opt., St. Petersburg, Russia
Abstract :
In this paper a new approach to the path tracing of automatic vehicles is developed on the basis of modern nonlinear and multivariable control methods. The proposed control strategy and appropriate algorithms allow one to improve the operating performances of the vehicle as well as to solve problems caused by nontrivial arrangement of the drive wheel modules and complexity of the path prescribed
Keywords :
mobile robots; motion control; multivariable control systems; nonlinear control systems; tracking; vehicles; control strategy; multidrive vehicular robots; multivariable control; nonlinear control; path tracing; Mobile robots; Motion control; Multivariable systems; Nonlinear systems; Tracking; Vehicles;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381246
