1 research outputs found
Modeling and Design of Longitudinal and Lateral Control System with a FeedForward Controller for a 4 Wheeled Robot
The work show in this paper progresses through a sequence of physics-based
increasing fidelity models that are used to design the robot controllers that
respect the limits of the robot capabilities, develop a reference simple
controller applicable to a large subset of tracking conditions, which include
mostly non-invasive or highly dynamic movements and define path geometry
following the control problem and develop both a simple geometric control and a
dynamic model predictive control approach. In this paper, we propose for a
nonlinear model with disturbance effect, the mathematical modeling of the
longitudinal and lateral movements using PID with a feed-forward controller.
This study proposes a feedforward controller to eliminate the disturbance
effect