Adaptive Path Control of Unmanned Ground Vehicle

As part of the effort in developing cooperative control schemes for multiple unmanned ground vehicles (UGVs), this work explores automatically steering a three-wheel mobile vehicle via highly adaptive approach. By introducing a virtual current vector, a set of control algorithms for direct controlling the left and right driving motors are derived. As confirmed by both theoretical analysis and computer simulation, the developed algorithms are effective in maintaining good path tracking precision in the presence of uncertain dynamics due to various disturbances emanating from external loads, the wheel-ground contact, and other unmodeled nonlinearities