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• W2902135940 abstract "Previous theoretical results on a robust linear tracking are applied to a practical problem of trajectory tracking by a Dubins’ ground vehicle. The tracking control is constructed as the optimal strategy in an auxiliary linearquadratic control problem for a linearized vehicle model. Numerical and experimental results are presented and compared. Practical improvements are proposed to circumvent real world problems such as non-ideal dynamics and control saturation. Robustness of tracking method in presence of disturbances is also shown experimentally." @default.
• W2902135940 created "2018-12-11" @default.
• W2902135940 creator A5038274765 @default.
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• W2902135940 date "2018-06-01" @default.
• W2902135940 modified "2023-09-27" @default.
• W2902135940 title "Linear-quadratic Robust Path Tracking for a Dubins Vehicle" @default.
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• W2902135940 doi "https://doi.org/10.23919/ecc.2018.8550513" @default.
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