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Control of mobile platforms using a virtual vehicle approach
KTH, Superseded Departments, Mathematics.ORCID iD: 0000-0003-0177-1993
2001 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 46, no 11, 1777-1782 p.Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
2001. Vol. 46, no 11, 1777-1782 p.
Keyword [en]
control of mobile platforms, nonlinear feedback control, trajectory, tracking
URN: urn:nbn:se:kth:diva-21091ISI: 000172108000010OAI: diva2:339788
QC 20100525Available from: 2010-08-10 Created: 2010-08-10Bibliographically approved

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