Piecewise affine control for fast unmanned ground vehicles

Conference object English OPEN
Benine-Neto, André; Grand, Christophe;
  • Publisher: HAL CCSD
  • Identifiers: doi: 10.1109/IROS.2012.6385675
  • Subject: optimisation | Lyapunov methods | linear matrix inequalities | piecewise linear techniques | [SPI.AUTO]Engineering Sciences [physics]/Automatic | control system synthesis | linear systems | nonlinear dynamical systems
    arxiv: Computer Science::Robotics

International audience; Unmanned ground vehicles (UGV) may experience skidding when moving at high speeds, and therefore have its safety jeopardized. For this reason the nonlinear dynamics of lateral tire forces must be taken into account into the design of steering con... View more
  • References (16)
    16 references, page 1 of 2

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