Trajectory tracking control of a vehicle with a large sideslip angle

Hiroshi Nakano, Jun Kinugawa, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationAIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages971-976
Number of pages6
ISBN (Electronic)9781467391078
DOIs
Publication statusPublished - 2015 Aug 25
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of
Duration: 2015 Jul 72015 Jul 11

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2015-August

Other

OtherIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
CountryKorea, Republic of
CityBusan
Period15/7/715/7/11

ASJC Scopus subject areas

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

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