Invariant trajectory tracking with a full-size autonomous road vehicle

IEEE Transactions on Robotics

Volumn 26, Issue 4, 2010, Pages 758-765

  Werling, Moritz ^a   Gröll, Lutz ^b   Bretthauer, Georg ^b  

^a KARLSRUHE INSTITUTE OF TECHNOLOGY   (Germany)

^b KARLSRUHE INSTITUTE OF TECHNOLOGY   (Germany)

Author keywords

Back stepping; full size autonomous road vehicle; invariant trajectory tracking; Lyapunov based control; nonholonomic

Indexed keywords

AUTONOMOUS SYSTEMS; CONTROL EFFORT; CONTROL LAWS; CONTROLLER PERFORMANCE; FULL-SIZE TESTS; INPUT SATURATION; LYAPUNOV; LYAPUNOV-BASED CONTROL; NONHOLONOMICS; ORIENTATION CONTROL; ROAD VEHICLES; SINGULARITY-FREE; STATE TRAJECTORY; TEST APPLICATIONS; TRACKING LAW; TRAJECTORY TRACKING;

ROADS AND STREETS; SAFE HANDLING; TRAJECTORIES;

VEHICLES;

EID: 77955585878     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2052325     Document Type: Article

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