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Vector-field-orientation feedback control method for a differentially driven vehicle / Maciej Michaek in IEEE Transactions on control systems technology, Vol. 18 N° 1 (Janvier 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 45-65 Titre : Vector-field-orientation feedback control method for a differentially driven vehicle Type de document : texte imprimé Auteurs : Maciej Michaek, Auteur ; Krzysztof Kozowski, Auteur Année de publication : 2011 Article en page(s) : pp. 45-65 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Feedback  control  Mobile  vehicles  Nonholonomic  systems  Point  satbilization  Trajectory  tracking  Vector  fields Index. décimale : 629.1 Résumé : This paper presents a novel vector-field-orientation (VFO) feedback control method and its application to a differentially driven wheeled vehicle. It describes the control concept and the control design methodology originating from simple geometrical interpretations connected with the vehicle model structure. The novelty of the VFO method allows one to treat two considered control tasks - trajectory tracking and point stabilization - in a unified manner. Control systems with VFO controllers reveal several practically desirable features like fast and nonoscillatory error convergence, simple interpretation of control input effect, and, as a consequence, particular simplicity of the controller parametric synthesis. The theoretical considerations included in this paper are validated by simulation and experimental results. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4908916 [article] Vector-field-orientation feedback control method for a differentially driven vehicle [texte imprimé] / Maciej Michaek, Auteur ; Krzysztof Kozowski, Auteur . - 2011 . - pp. 45-65. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 45-65 Mots-clés : Feedback  control  Mobile  vehicles  Nonholonomic  systems  Point  satbilization  Trajectory  tracking  Vector  fields Index. décimale : 629.1 Résumé : This paper presents a novel vector-field-orientation (VFO) feedback control method and its application to a differentially driven wheeled vehicle. It describes the control concept and the control design methodology originating from simple geometrical interpretations connected with the vehicle model structure. The novelty of the VFO method allows one to treat two considered control tasks - trajectory tracking and point stabilization - in a unified manner. Control systems with VFO controllers reveal several practically desirable features like fast and nonoscillatory error convergence, simple interpretation of control input effect, and, as a consequence, particular simplicity of the controller parametric synthesis. The theoretical considerations included in this paper are validated by simulation and experimental results. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4908916