Scheduled System Maintenance:
On Monday, April 27th, IEEE Xplore will undergo scheduled maintenance from 1:00 PM - 3:00 PM ET (17:00 - 19:00 UTC). No interruption in service is anticipated.
By Topic

Control of car-like robots using sliding observers for steering angle estimation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Stotsky, A. ; Div. of Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden ; Hu, X.

This paper presents a new control algorithm for the car-like robot path tracking problem based on a model whose reference point is the middle point of the front axle. The proposed control algorithm is proved to be robust with respect to bounded disturbances and does not use measurements of steering angle. Disturbances and the steering angle are estimated via sliding mode observers. The results are confirmed by simulation

Published in:

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on  (Volume:4 )

Date of Conference:

10-12 Dec 1997