Slip-Based Nonlinear Recursive Backstepping Path Following Controller for Autonomous Ground Vehicles.
Ming XinKai ZhangDavid LacknerMark A. MinorPublished in: ICRA (2020)
Keyphrases
- ground vehicles
- tracking control
- nonlinear systems
- control law
- lyapunov stability theory
- path planning
- adaptive neural
- controller design
- control algorithm
- control strategy
- variable structure
- lyapunov function
- closed loop
- obstacle avoidance
- adaptive control
- control method
- control scheme
- collision avoidance
- unmanned aerial vehicles
- control system
- neural network controller
- optimal control
- fuzzy control
- fuzzy systems
- fuzzy controller
- motion planning
- highly nonlinear
- inverted pendulum
- fuzzy model
- adaptive fuzzy
- sliding mode control
- real time
- linear quadratic
- learning rate
- feedback control
- mobile robot
- mathematical model
- neural network