TY - GEN
T1 - Trajectory tracking control of a vehicle with a large sideslip angle
AU - Nakano, Hiroshi
AU - Kinugawa, Jun
AU - Kosuge, Kazuhiro
PY - 2015/8/25
Y1 - 2015/8/25
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84951197634&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84951197634&partnerID=8YFLogxK
U2 - 10.1109/AIM.2015.7222665
DO - 10.1109/AIM.2015.7222665
M3 - Conference contribution
AN - SCOPUS:84951197634
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 971
EP - 976
BT - AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Y2 - 7 July 2015 through 11 July 2015
ER -