Control of Mobile Platforms Using a Virtual Vehicle Approach
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Abstract
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.
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2001-11
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