Robust sideslip angles observer for accurate off-road path tracking control. (3rd May 2017)

• Record Type: Journal Article
• Authors: Lenain, Roland; Deremetz, Mathieu; Braconnier, Jean-Baptiste; Thuilot, Benoit; Rousseau, Vincent
• Is Part Of: Advanced robotics. Volume 31:Number 9(2017)
• Page Start: 453
• Page End: 467
• Publication Date: 2017-05-03
• Subjects: Off-road mobile robot -- path tracking -- adaptive control -- grip conditions -- nonlinear control; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2017.1280414
• Languages: English
• ISSNs: 0169-1864

Abstract

Graphical Abstract: Abstract : This paper proposes a control strategy to achieve high accurate path tracking in off-road conditions. The approach is based on adaptive and predictive techniques to account for sliding effects and actuator properties. An extended kinematic model is designed using sideslip angles definition. An observer is proposed to estimate online these variables, independently from the reference path and robot velocity. Thanks to the proposed approach, high accurate path tracking can then be achieved whatever the shape of the reference path and the task to be achieved (practical stabilization or moving object tracking).