| Autor: |
J. Jim Zhu, Yuanyan Chen |
| Rok vydání: |
2018 |
| Předmět: |
|
| Zdroj: |
Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. |
| DOI: |
10.1115/dscc2018-9148 |
| Popis: |
A car-like ground vehicle is a nonlinear and underactuated system subject to nonholonomic constraints. Trajectory tracking control of such systems is a challenging problem. To this end, a trajectory tracking controller based on nonlinear kinematics and dynamics model of a ground vehicle by Trajectory Tracking Control (TLC) is presented in our previous work. In this paper, we present hardware validation of TLC controller design with vehicle parameters determination for a Radio Controlled (RC) scaled model vehicle, experimental implementation, and tuning procedure. Hardware testing results are presented to demonstrate the effectiveness of our design. The design can be readily scaled-up to full-size vehicles and adapted to different types of autonomous ground vehicles with only knowledge of the vehicle model parameters. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
|
