Nonlinear control of multidrive vehicular robots

摘要

In this paper a new approach to the path tracing of automatic vehicles is developed on the basis of modern nonlinear and multivariable control methods. The proposed control strategy and appropriate algorithms allow one to improve the operating performances of the vehicle as well as to solve problems caused by nontrivial arrangement of the drive wheel modules and complexity of the path prescribed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>