DocumentCode
289345
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
fYear
1994
fDate
24-26 Aug 1994
Firstpage
79
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location
Glasgow
Print_ISBN
0-7803-1872-2
Type
conf
DOI
10.1109/CCA.1994.381246
Filename
381246
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