Logic-based switching control for trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty.
António Pedro AguiarJoão Pedro HespanbaPublished in: ACC (2004)
Keyphrases
- autonomous vehicles
- trajectory tracking
- obstacle avoidance
- control system
- mobile robot
- path planning
- closed loop
- visual servoing
- bi directional
- motion planning
- sliding mode
- structured environments
- control method
- dynamic model
- control law
- wheeled mobile robots
- robot control
- iterative learning
- control strategy
- iterative learning control
- physical constraints
- genetic algorithm
- control scheme
- complex environments
- feedback control
- control algorithm
- degrees of freedom