... with integral action, pole placement, and a full nonlinear sliding mode controller. We summarize the pros and cons of each of the modeling techniques, and control laws implemented. The outcomes of our analysis will improve RL training time for path generation in unstructured environments. 2 Corresponding...

... will be presented to demonstrate these strategies. Using the model, path-planned dynamic controls based on pole placement, linear quadratic regulator, and sliding mode control methods will be implemented for a continuous time-varying path. Also, a comparison of the performance of the control methods, in addition...