2014
DOI: 10.1299/mej.2014dr0037
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Steering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots

Abstract: This work analyzes the influence of steering angle saturation to the convergent property in the Path-generating Regulator (PGR) under the feedback gain switching strategy for car-like robots. The PGR control method carries out asymptotic convergence to a given path function group. It has been extended to car-like robots, and its convergent region has been expanded by the feedback gain switching strategy. However, under this strategy, when the robot restarts after the feedback gain switches, the command of the … Show more

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