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Experimental Comparison of Trajectory Trackers for a Car with Trailers |
Abstract |
In this paper various design techniques ar … In this paper various design techniques are applied to the trajectory tracking problem for a mobile
robot with trailers. Using simulations and experiments, we evaluate linear and nonlinear designs
on the basis of implementation issues, stability and performance. After a careful design of their
gains, the various feedback controllers have very close performance measures. In both the
simulations and the experiments, all the controllers show a strong dependence on the knowledge
of the reference trajectory. The flatness of the system is exploited in precomputing this quantity. s exploited in precomputing this quantity. +
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Authors | Francesco Bullo and Richard M. Murray + |
Flags | NoRequest + |
ID | 1996c + |
Source | 1996 IFAC World Congress + |
Tag | bm96-ifac + |
Title | Experimental Comparison of Trajectory Trackers for a Car with Trailers + |
Type | Conference paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:20:21 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/bm96-ifac.pdf + |
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Experimental Comparison of Trajectory Trackers for a Car with Trailers + | Title |
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