Control of Mobile Platforms Using a Virtual Vehicle Approach

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Title: Control of Mobile Platforms Using a Virtual Vehicle Approach
Author: Egerstedt, Magnus B. ; Hu, Xiaoming ; Stotsky, A.
Abstract: Two model independent solutions to the problem of controlling wheel-based mobile platforms are proposed. These two algorithms are based on a so called virtual vehicle approach, where the motion of the reference point on the desired trajectory is governed by a differential equation containing error feedback. This, combined with the fact that the proven stable control algorithms are basically proportional regulators with arbitrary positive gains, make the solutions robust with respect to errors and disturbances, as demonstrated by the experimental results.
Description: (c) 2001 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier : 10.1109/9.964690
Type: Article
ISSN: 0018-9286
Citation: M. Egerstedt, X. Hu, and A. Stotsky. Control of Mobile Platforms Using a Virtual Vehicle Approach. IEEE Transactions on Automatic Control, Vol. 46, No. 11, pp. 1777-1782, Nov. 2001.
Date: 2001-11
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Kungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Control of mobile platforms
Nonlinear feedback control
Trajectory tracking

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