Control of a Car-Like Robot Using a Virtual Vehicle Approach

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Title: Control of a Car-Like Robot Using a Virtual Vehicle Approach
Author: Egerstedt, Magnus B. ; Hu, Xiaoming ; Stotsky, A.
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, for instance, the side slip angles are taken into account.
Description: Proceedings of the IFAC'99: 14th World Congress, Beijing, China, Jul. 1999.
Type: Proceedings
ISSN: 8043-2476
Citation: A. Stotsky, X. Hu, and M. Egerstedt. Sliding Mode Control of a Car-Like Mobile Robot Using Single-Track Dynamic Model. Proceedings of the IFAC'99:14th World Congress, Beijing, China, Jul. 1999.
Date: 1999-07
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Kungl. Tekniska högskolan
Publisher: Georgia Institute of Technology
International Federation of Automatic Control
Subject: Mobile robots
Control strategies

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