Title :
Feedback control for a train-like vehicle
Author :
De Wit, C. Canudas ; NDoudi-Likoho, A.D. ; Micaelli, A.
Author_Institution :
Lab. d´´Autom. de Grenoble, Saint-Martin d´´Heres, France
Abstract :
This paper presents a feedback nonlinear control law for a train-like vehicle (TLV) used in nuclear power-station maintenance. The front cart is either manual or automated guided. The rear carts are feedback controlled. The control objective is to ensure that the rear carts track the path produced (online) by the front cart. This controller was experimentally tested on the TLV-prototype
Keywords :
feedback; industrial robots; mobile robots; nonlinear control systems; nuclear power stations; nuclear reactor maintenance; power station control; automated guided vehicle; feedback nonlinear control law; manual guidance; nuclear power-station maintenance; path tracking; train-like vehicle; Automatic control; Ear; Feedback control; Indoor environments; Mobile robots; Remotely operated vehicles; Surface reconstruction; Testing; Velocity control; Wheels;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351017
