In these days, tracking control for vehicles with nonlinear dynamics is intensively studied. Especially when vehicles run at low speed, exact linearization based on time-state controller form realizes exponential convergence to the reference trajectory. When a vehicle corners a curve at high speed, however, tracking error due to sideslip angle of tires appears. To recover the exponential convergence and to compensate for the uncertainty of tire force, a sliding mode control for active front steering vehicle has been proposed by one of the author. In this study, that method is applied to a RC model car to explore the possibilities of indoor type high speed mobile robots.


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    Titel :

    Application and test of sliding mode control for indoor vehicles


    Beteiligte:
    Yamamoto, M. (Autor:in) / Nonaka, K. (Autor:in)


    Erscheinungsdatum :

    2009


    Format / Umfang :

    6 Seiten, 6 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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