Control of a car-like robot using a dynamic model

被引：0
|
作者：
Egerstedt, M [1 ]
Hu, X [1 ]
Stotsky, A [1 ]
机构：
[1] Royal Inst Technol, SE-10044 Stockholm, Sweden
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：3273 / 3278
页数：4
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