On the design of 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; Fernando Lobo Pereira (Author) FEUP; João Tasso Sousa (Author) FEUP

Conference proceedings International

Title: ECC 1997 - European Control Conference

Pages: 3549-3554

4th European Control Conference, ECC 1997

1 July 1997 through 4 July 1997

Indexing

Scopus - 0 Citations

Scientific classification

FOS: Engineering and technology > Other engineering and technologies

CORDIS: Technological sciences

Other information

Authenticus ID: P-00G-55T

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 to modeling uncertainty and execution errors.

Language: English

Type (Professor's evaluation): Scientific