Control of a Car-Like Robot Using a Dynamic Model

A solution to the problem of controlling a car-like nonholonomic robot is proposed using a "virtual" vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model, in which, for instance, the side slip angles are taken into account. 1 Introduction In this paper the problem of controlling a car-like robot is studied. Many industrial applications need problems like this to be solved in order to have good and robust path tracking algorithms for different types of mobile robot tasks. Naturally, this has been a well studied topic [2, 5, 11, 12, 10, 3, 4]. A few methods have been proposed to solve the problem, for example, the curvature steering method (see for example [12]) and the flatness approach [4]. However, all these methods use an open-loop control, which is quite sensible to measurement errors and disturbances, and are model dependent. In this paper we ..