DocumentCode
2271152
Title
Control of car-like robots using sliding observers for steering angle estimation
Author
Stotsky, A. ; Hu, X.
Author_Institution
Div. of Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden
Volume
4
fYear
1997
fDate
10-12 Dec 1997
Firstpage
3648
Abstract
This paper presents a new control algorithm for the car-like robot path tracking problem based on a model whose reference point is the middle point of the front axle. The proposed control algorithm is proved to be robust with respect to bounded disturbances and does not use measurements of steering angle. Disturbances and the steering angle are estimated via sliding mode observers. The results are confirmed by simulation
Keywords
control system synthesis; mobile robots; observers; path planning; robot kinematics; stability; tracking; variable structure systems; bounded disturbances; car-like robots; kinematics; mobile robots; path planning; sliding mode; sliding observers; stability; steering angle; tracking; Angular velocity control; Axles; Mobile robots; Motion control; Path planning; Robot control; Robot kinematics; Robust control; Sliding mode control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.652422
Filename
652422
Link To Document