부산대학교 도서관

In these days, tracking control for vehicles with nonlinear dynamics is intensively studied. Especially when vehicles run at low speed, exact linearization based on time-state controller form realizes exponential convergence to the reference trajectory. When a vehicle corners a curve at high speed, however, tracking error due to sideslip angel of times appears. To recover the exponential convergence and to compensate for the uncertainly of tire force, a sliding mode control for active front steering vehicle has been proposed by one of the author. In this study, that method is applied to a RC model car to explore the possibilities of indoor type high speed mobile robots.