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
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;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.652422
