Referenced Items are not available for this document.
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
Published in:
Automatic Control, IEEE Transactions on
(Volume:46
,
Issue:
11
)
Date of Publication: Nov 2001
- Page(s):
- 1777 - 1782
- ISSN :
- 0018-9286
- INSPEC Accession Number:
- 7102135
- Digital Object Identifier :
- 10.1109/9.964690
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Nov 2001
- Sponsored by :
- IEEE Control Systems Society
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