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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.  +
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
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15 May 2016 06:20:21  +
URL
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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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