Trajectory tracking control of a vehicle with a large sideslip angle

Hiroshi Nakano; Jun Kinugawa; Kazuhiro Kosuge

doi:10.1109/AIM.2015.7222665

Trajectory tracking control of a vehicle with a large sideslip angle

Hiroshi Nakano, Jun Kinugawa, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

We propose a trajectory tracking control algorithm for a vehicle with a large sideslip angle. The proposed algorithm was designed on the basis of a vehicle's planar motion using a four-wheel vehicle model. The proposed algorithm controls the vehicle's position and attitude by integrating the motion control algorithm for a vehicle with a large sideslip angle into the trajectory tracking algorithm for a mobile robot. The proposed algorithm was implemented into an experimental system and the results verify its effectiveness.

Original language	English
Title of host publication	AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	971-976
Number of pages	6
ISBN (Electronic)	9781467391078
DOIs	https://doi.org/10.1109/AIM.2015.7222665
Publication status	Published - 2015 Aug 25
Event	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of Duration: 2015 Jul 7 → 2015 Jul 11

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2015-August

Other

Other	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Country	Korea, Republic of
City	Busan
Period	15/7/7 → 15/7/11

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/AIM.2015.7222665

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Nakano, H., Kinugawa, J., & Kosuge, K. (2015). Trajectory tracking control of a vehicle with a large sideslip angle. In AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 971-976). [7222665] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2015-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2015.7222665

Trajectory tracking control of a vehicle with a large sideslip angle. / Nakano, Hiroshi; Kinugawa, Jun ; Kosuge, Kazuhiro.

AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2015. p. 971-976 7222665 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2015-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nakano, H, Kinugawa, J & Kosuge, K 2015, Trajectory tracking control of a vehicle with a large sideslip angle. in AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 7222665, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2015-August, Institute of Electrical and Electronics Engineers Inc., pp. 971-976, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015, Busan, Korea, Republic of, 15/7/7. https://doi.org/10.1109/AIM.2015.7222665

Nakano H, Kinugawa J , Kosuge K. Trajectory tracking control of a vehicle with a large sideslip angle. In AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2015. p. 971-976. 7222665. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2015.7222665

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