A hybrid feedback control system for a nonholonomic car-like vehicle

• Type: Article in International Conference Proceedings Book
• Date: 1997

Authors

Almeida, J (Author) Other; Pereira, FL (Author) FEUP; Sousa, JB (Author) FEUP

Conference proceedings International

Title: 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4

Pages: 2614-2619

1997 IEEE International Conference on Robotics and Automation (ICRA97) - Teaming to Make an Impact

ALBUQUERQUE, NM, APR 20-25, 1997

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 1 Citation

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences

Other information

Authenticus ID: P-001-D3P

DOI: 10.1109/robot.1997.619355

Abstract (EN): This paper addresses the design of a hybrid feedback control system enabling a car-like, rectangular vehicle to perform a tight L-shaped turn maneuver, This case constitutes an effort towards the definition of a general purpose methodology for hybrid feedback control synthesis. The design effort encompasses the synthesis of a set of modalities and mechanisms to detect relevant events enabling the overall motion coordination so that a global goal is attempted, Simulations of the implemented controller have shown a strong robustness with respect lo modeling uncertainty and execution errors.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6