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The problem of motion control of an autonomous tracked vehicle is considered in this paper. While some well-known nonlinear control techniques are shown to be inapplicable to the problem, a recently developed nonlinear control approach is successfully applied. The performance of the controller in tracking desired trajectories is evaluated. The robustness of the controller is demonstrated by considering modelling uncertainties due to side slip of the vehicle.
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Lü et al. (1994) studied this question.
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