Abstract:Controller design for autonomous 4-wheeled ground vehicles is performed with differential flatness theory. Using a 3-DOF nonlinear model of the vehicle's dynamics and through the application of differential flatness theory an equivalent model in linear canonical (Brunovksy) form is obtained. For the latter model a state feedback controller is developed that enables accurate tracking of velocity setpoints. Moreover, it is shown that with the use of Kalman Filtering it is possible to dynamically estimate the dis… Show more
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