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- W2972760084 abstract "Steering controls for car-like robots have been studied for a long time and attracted more and more research due to the recent boom of self-driving vehicles. A novel nonlinear steering control law for a scale-model car with applicability to any size vehicle is presented in this study. The proposed control employs both the lateral and angular errors at a lookahead distance which, along with the controller gain, is tuned dynamically as a function of velocity of the vehicle. Stability of the control law is demonstrated by Lyapunov analysis and the relationships from speed to look-ahead distance and control gain are also determined. Computation and actuator delays as well as steering saturation are modeled in the simulation for a more realistic performance index and effectiveness of the control." @default.
- W2972760084 created "2019-09-19" @default.
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- W2972760084 date "2019-07-01" @default.
- W2972760084 modified "2023-09-27" @default.
- W2972760084 title "A Novel Steering Control for Car-Like Robots Based on Lyapunov Stability" @default.
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- W2972760084 doi "https://doi.org/10.23919/acc.2019.8814698" @default.
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