Control of mobile platforms using a virtual vehicle approach 论文

摘要

Two model independent solutions to the problem of controlling wheel-based mobile platforms are proposed. These two algorithms are based on a so called virtual vehicle approach, where the motion of the reference point on the desired trajectory is governed by a differential equation containing error feedback. This, combined with the fact that the proven stable control algorithms are basically proportional regulators with arbitrary positive gains, make the solutions robust with respect to errors and disturbances, as demonstrated by the experimental results.