Design of Trajectory Tracking Controller Based on Vehicle Dynamics
Chen Yang,Liu Daxue,He Han’gen,Dai Bin
Strategic Study of CAE ›› 2007, Vol. 9 ›› Issue (11) : 68 -73.
Design of Trajectory Tracking Controller Based on Vehicle Dynamics
Chen Yang,Liu Daxue,He Han’gen,Dai Bin
Strategic Study of CAE ›› 2007, Vol. 9 ›› Issue (11) : 68 -73.
Design of Trajectory Tracking Controller Based on Vehicle Dynamics
Trajectory tracking is one of the core problem in navigation with mobile robots. In this article, feedback linearization method is used in the design of trajectory tracking controller for nonholonomic vehicle. Robustness of the tracking algorithm is studied via simulation. Engineering problems, such as design of parameter observer, are introduced at last.
trajectory tracking / feedback linearization / navigation
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