Title :
Dynamics-based full-state tracking for a car-like mobile robot
Author :
Pham, Minhtuan ; Wang, Danwei
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
This paper presents a full-state tracking control scheme for a car-like vehicle. The control law is developed based on a dynamic model of the vehicle together with the definition of a virtual reference point off the vehicle. The proposed controller can track another vehicle moving in front of or track one moving behind it. Simulations show the effectiveness of the proposed controller. The influence of pre-selected parameters on tracking performance is also examined.
Keywords :
automobiles; control system analysis computing; digital simulation; mobile robots; position control; tracking; car-like robot; controller; dynamic model; full state tracking control; mobile robot; preselected parameters; tracking performance; virtual reference point; Adaptive control; Cameras; Kinematics; Mobile robots; Nonlinear dynamical systems; Nonlinear systems; Remotely operated vehicles; Stability; Vehicle detection; Vehicle dynamics;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1238516
