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A solution to trajectory-tracking control problem for a four-wheel-steering vehicle (4WS) is proposed using sliding-mode approach. The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The sliding-mode approach make the solutions robust with respect...
In this paper a lateral motion control using a sliding-mode controller (SMC) for four-wheels driving and steering (4WDS) vehicle is presented. The lane centerline following by look-ahead techniques is main control performance. The dynamic model of a linear 2 DOF bicycle mode has been taken into account. The advantage of this controller over current control procedure is that it is applicable to a large...
In this paper, a new sliding-mode trajectory-tracking wheeled mobile robots (WMR) control is proposed. Dynamic model with uncertainties parameters (unknown or time varying mass and moment of inertia) of the WMR is taken into account. Robust stability depending on upper bound uncertainties, is guaranteed. A mobile platform, PatrolBot, with two driving wheels and two rear wheels is used in order to...
Wheeled Mobile Robots (WMRs) are the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers and energy saving characteristics. A dynamics-based sliding mode controller for WMR trajectory tracking is proposed. Robustness to external disturbances and parameter uncertainties is achieved. Closed loop real-time results show good performances in trajectory tracking...
For fully-automated passenger vehicles, trajectory planning that produce smooth trajectories, with respect to the comfort of human body, is required. An approach that consists of introducing a velocity planning stage to generate adequate time sequences to be used in the interpolating curve planner, is proposed. The generated speed profile can be merged into the trajectory for usage in trajectory-tracking...
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