@inproceedings{86d230bf2f6743d192fe80789b698a3d,
title = "Linear-quadratic Robust Path Tracking for a Dubins Vehicle",
abstract = "Previous theoretical results on a robust linear tracking are applied to a practical problem of trajectory tracking by a Dubins' ground vehicle. The tracking control is constructed as the optimal strategy in an auxiliary linearquadratic control problem for a linearized vehicle model. Numerical and experimental results are presented and compared. Practical improvements are proposed to circumvent real world problems such as non-ideal dynamics and control saturation. Robustness of tracking method in presence of disturbances is also shown experimentally.",
author = "Bhargav Jha and Vladimir Turetsky and Tal Shima",
note = "Publisher Copyright: {\textcopyright} 2018 European Control Association (EUCA).; 16th European Control Conference, ECC 2018 ; Conference date: 12-06-2018 Through 15-06-2018",
year = "2018",
month = nov,
day = "27",
doi = "https://doi.org/10.23919/ECC.2018.8550513",
language = "الإنجليزيّة",
series = "2018 European Control Conference, ECC 2018",
pages = "2101--2106",
booktitle = "2018 European Control Conference, ECC 2018",
}