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dc.contributor.authorEgerstedt, Magnus B.
dc.contributor.authorHu, Xiaoming
dc.contributor.authorStotsky, A.
dc.date.accessioned2011-04-18T14:39:01Z
dc.date.available2011-04-18T14:39:01Z
dc.date.issued2001-11
dc.identifier.citationM. 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.en_US
dc.identifier.issn0018-9286
dc.identifier.urihttp://hdl.handle.net/1853/38565
dc.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.en_US
dc.descriptionDigital Object Identifier : 10.1109/9.964690
dc.description.abstractTwo 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectControl of mobile platformsen_US
dc.subjectNonlinear feedback controlen_US
dc.subjectTrajectory trackingen_US
dc.titleControl of Mobile Platforms Using a Virtual Vehicle Approachen_US
dc.typeArticleen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatenameKungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori
dc.publisher.originalInstitute of Electrical and Electronics Engineers


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