Robust Nonlinear Control of UGV (Cockburn - Intelligent Control Architectures)
Problem: Develop model-based, nonlinear, control laws that allow fast maneuvers of a UGV under a variety of difficult terrains.
Development of high fidelity, nonlinear models of the UGVs.
Determination of the appropriate nonlinear control design method: e.g., linear parameter varying control or control using state-dependent Riccati equations.