Sub-optimal and robust path tracking: a geometric approach
Karin Tieber,Johannes Rumetshofer,Michael Stolz,Daniel Watzenig,Karin Tieber,Johannes Rumetshofer,Michael Stolz,Daniel Watzenig
Path tracking controllers for non-holonomic vehicles are commonly designed with primary focus on robustness to different kinds of disturbances, vehicle dynamics and other effects. Subsequently, the path tracking behavior is improved by parameter optimization or controller extensions. The possible improvement, however, is already limited by the control design itself. To overcome this drawback, this...
