Analysis of steering control in vehicles with two independent left and right traction wheels
- 1 January 1991
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1634-1637 vol.2
- https://doi.org/10.1109/icar.1991.240492
Abstract
Based on the kinematic studies of motion for a vehicle equipped with a pair of motorized wheels which, by having appropriate velocities, can provide traction forces as well as steering action, a steering control strategy is derived. The angular velocities for the right and left wheels are considered, the two control inputs which cause a system to follow a desired trajectory. Assuming these inputs to be linear functions of the two errors associated with path tracking problem (position and orientation errors), through an appropriate Lyapunov function, a control policy is determined. The path tracking behaviour of a mobile robot using such a control law is demonstrated by computer simulation.Keywords
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