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dc.creatorKoumboulis, F. N.en
dc.creatorSkarpetis, M. G.en
dc.date.accessioned2015-11-23T10:36:12Z
dc.date.available2015-11-23T10:36:12Z
dc.date.issued2000
dc.identifier.isbn9608052114
dc.identifier.urihttp://hdl.handle.net/11615/29815
dc.description.abstractThe problem of robust automatic steering of an autonomous unmanned vehicle is studied. The problem is solved using a robust P-D feedback controller feeding back the path error and the front steering angle. The design goal is to follow accurately a desired path independently from the presence of a possible disturbances (wind forces acting on the aerodynamic center of the side surface of the vehicle) and uncertainties (road, mass and velocity uncertainties). Additionally robust stability of all system variables is required. It is proven that the design requirements can always be satisfied via appropriate P-D feedback. The present results appear to be beneficially for worksite and agriculture vehicles. The results are illustrated via simulation for the path of a tractor during tilling.en
dc.source.urihttp://www.scopus.com/inward/record.url?eid=2-s2.0-4944258358&partnerID=40&md5=fbc22ded85d83fc5f1da24ff3bccf6aa
dc.subjectAgricultureen
dc.subjectAutomatic steeringen
dc.subjectFeedback designen
dc.subjectRobust P-D controlen
dc.subjectUncertain structureen
dc.subjectAerodynamicsen
dc.subjectGravitationen
dc.subjectMathematical modelsen
dc.subjectRobustness (control systems)en
dc.subjectSensorsen
dc.subjectSteeringen
dc.subjectUncertain structuresen
dc.subjectGround vehiclesen
dc.titleAutomatic steering control of unmanned vehiclesen
dc.typejournalArticleen


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