A Hybrid System Approach to Feedback Control of a Nonholonomic Car-like Vehicle
نویسندگان
چکیده
This paper addresses the design of a hybrid feedback control system enabling a car-like, rectangular vehicle to perform a tight L-shaped turn maneuver. This case constitutes an effort towards the definition of a general purpose methodology for hybrid feedback control synthesis. The design effort encompasses the synthesis of a set of modalities and mechanisms to detect relevant events enabling the overall motion coordination so that a global goal is attempted. Simulations of the implemented controller have shown a strong robustness with respect to modeling uncertainty and execution errors.
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