Title :
Speed, steering angle and path tracking controls for a tricycle robot
Author :
Kamga, André ; Rachid, Ahmed
Author_Institution :
Lab. des Syst. Autom., Amiens, France
Abstract :
This paper is devoted to identification and control of the moving velocity of an autonomous vehicle and of the position and velocity of its steering angle. Trajectory tracking is also dealt with by adapting a simple but powerful linearization method
Keywords :
mobile robots; motion control; tracking; autonomous vehicle; linearization; path tracking control; speed control; steering angle control; trajectory tracking; tricycle robot; Automatic control; DC motors; Mobile robots; Permanent magnet motors; Regulators; Remotely operated vehicles; Robotics and automation; Vehicle driving; Velocity control; Wheels;
Conference_Titel :
Computer-Aided Control System Design, 1996., Proceedings of the 1996 IEEE International Symposium on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-3032-3
DOI :
10.1109/CACSD.1996.555197
