Title :
Control of a car-like robot using a virtual vehicle approach
Author :
Egerstedt, M. ; Hu, X. ; Stotsky, A.
Author_Institution :
Div. of Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden
Abstract :
A solution to the problem of controlling a car-like nonholonomic robot is proposed using a “virtual” vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model in which the side slip angles are taken into account
Keywords :
mobile robots; path planning; position control; robot dynamics; stability; virtual reality; car-like robot; dynamical model; mobile robots; nonholonomic robot; path planning; position control; side slip angles; stability; virtual vehicle; Control systems; Differential equations; Error correction; Open loop systems; Robots; Robustness; Stability analysis; Steady-state; Trajectory; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.758501
