Control of a Car-Like Robot Using a Dynamic Model
نویسندگان
چکیده
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.
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تاریخ انتشار 1998