On robustness and precision of mobile robots missions (Q5930066)

After the description of the vehicle model, the analysis of the causes of inaccuracy in the localization process and the state feedback controller, the stability is analyzed for the nominal case. By using a certain bounded attraction domain around the nominal trajectory, the robustness of the controller is studied with respect to state estimation errors. As a particular case of tracking, a parking nonstationary controller is presented. Some experimental results are given.