Title

Nonlinear Control Of An Autonomous Tracked Vehicle

Authors

P. Lu
K. C. Lin

Title - Alternative

Trans. Inst. Meas. Control

Keywords

Nonlinear Control Systems; Feedback Control; Autonomous Vehicle; System; Automation & Control Systems; Instruments & Instrumentation

Abstract

The problem of motion control of an autonomous tracked vehicle is considered in this paper. While some well-known nonlinear control techniques are shown to be inapplicable to the problem, a recently developed nonlinear control approach is successfully applied. The performance of the controller in tracking desired trajectories is evaluated. The robustness of the controller is demonstrated by considering modelling uncertainties due to side slip of the vehicle.

Publication Title

Transactions of the Institute of Measurement and Control

Volume

16

Issue/Number

4

Publication Date

1-1-1994

Document Type

Article

Language

English

First Page

214

Last Page

220

WOS Identifier

WOS:A1994QJ42900005

ISSN

0142-3312

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