NDLI: Trajectory tracking control for intelligent vehicle based on the Euler-Lagrange systems

Content Provider	IEEE Xplore Digital Library
Author	Chuang Guo Longfei Dong Yanrong Ge
Copyright Year	2014
Description	Author affiliation: Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China (Chuang Guo; Longfei Dong; Yanrong Ge)
Abstract	In this paper, an improved trajectory tracking control law is proposed for a four-wheel differential nonholonomic drive intelligent vehicle. Based on the kinematics model and Euler-Lagrange (EL) system of the vehicle, the control laws adopt an improved typical backstepping method to design the kinematics controller and a fast terminal sliding mode technique to devise the dynamic control law, which can completely track the desired trajectory in finite time. The system is global asymptotic stability by Lyapunov theory and the parameters are optimized through the pole assignment method when the vehicle is near the reference trajectory. Finally, simulations demonstrate the effectiveness and correctness of the proposed control strategy.
Starting Page	1677
Ending Page	1681
File Size	176459
Page Count	5
File Format	PDF
ISBN	9781479937073
e-ISBN	9781479937080
DOI	10.1109/CCDC.2014.6852438
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory tracking Euler-Lagrange system Intelligent vehicle Wheels Kinematics Mobile communication Lyapunov theory Trajectory Mobile robots Vehicle dynamics Vehicles Pole assignment
Content Type	Text
Resource Type	Article

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