Lenain, Roland
Nizard, Ange
Deremetz, Mathieu
Thuilot, Benoit
Papot, Vianney
Cariou, Christophe
Chapter History
First Online: 26 October 2019
Ethics
: <b>Notes and Comments.</b> This paper constitutes an extension of the original control algorithms proposed inĀ [CitationRef removed], where the robot model was expressed with respect to time, so that control performances were dependent on the robot velocity. In this paper, models are expressed with respect to the curvilinear abscissa covered by the robot, so that control performances are henceforth described as settling distances and are independent from robot velocity. Furthermore, this paper proposes an anticipation layer to improve the robustness of the path tracking with respect to actuator delays and the rear steering law has been modified to avoid lock-up situations occurring when a saturation is present at the front steering angle. Experiments have also been enhanced to highlight the generality of the approach with respect to the robot configuration and the diversity of the situations encountered in targeted applications.
Conference Information
Conference Acronym: ICINCO
Conference Name: International Conference on Informatics in Control, Automation and Robotics
Conference City: Porto
Conference Country: Portugal
Conference Year: 2018
Conference Start Date: 29 July 2018
Conference End Date: 31 July 2018
Conference Number: 15
Conference ID: icinco2018
Conference URL: http://www.icinco.org/