{"title":"Robust path following of car-like WMR in the presence of skidding effects","authors":"C. B. Low, D. Wang","doi":"10.1109/ICMECH.2005.1529375","DOIUrl":null,"url":null,"abstract":"In this paper, backstepping-based robust path following controllers are presented to tackle the skidding problem for a type (1,1) car-like WMR. The controllers are designed based on a new general model, which allows the perturbations to be estimated effectively. Backstepping-based controllers are designed based on the estimated information and enhanced by robust control techniques. Simulation results show good respond to the skidding effects.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"81 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE International Conference on Mechatronics, 2005. ICM '05.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMECH.2005.1529375","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 15
Abstract
In this paper, backstepping-based robust path following controllers are presented to tackle the skidding problem for a type (1,1) car-like WMR. The controllers are designed based on a new general model, which allows the perturbations to be estimated effectively. Backstepping-based controllers are designed based on the estimated information and enhanced by robust control techniques. Simulation results show good respond to the skidding effects.
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