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Control of a car-like robot using a dynamic model

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

A solution to the problem of controlling a car-like nonholonomic robot is proposed using a “virtual” vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model in which, for instance, the side slip angles are taken into account

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998

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