Flatness based control of automated guided vehicle
Keywords:
automated guided vehicle, trajectory, flatness, feed-forward, feedbackAbstract
This paper presents simulation of the motion of autonomous vehicle using the flatness based control. Based on the kinematic model of the vehicle motion a feed-forward trajectory tracking controller has been designed. For the system stabilization in the presence of disturbances a feedback controller based on linear error dynamics has been constructed. In either case, comparative study between real moving and desired one has been presented.
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