期刊
CONTROL ENGINEERING PRACTICE
卷 40, 期 -, 页码 102-112出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2015.03.006
关键词
Unmanned ground vehicle; Asymptotic stability; Continuous control input; RISE feedback; Vector field
This study proposes an asymptotically stable path following controller for autonomous navigation of an unmanned ground vehicle (UGV) using vector field and robust-integral-signum error (RISE) feedback. The path following controller is divided into two parts: one part generating a heading command and another part designing a robust control. To determine the reference heading command under various uncertainties, the vector field method is employed, and then the RISE feedback controller is designed to follow the heading command. Finally, experiments are conducted on paved and unpaved roads to validate the effectiveness of the proposed method. (C) 2015 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据