Target point-based path-following controller for a car-type vehicle using bounded controls

DOI10.1002/RNC.3225zbMATH Open1328.93181arXiv1303.5127OpenAlexW2964022182MaRDI QIDQ3465700FDOQ3465700

Authors: Salah Laghrouche, Mohamed Harmouche, Yacine Chitour 

Publication date: 22 January 2016

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Abstract: In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead of the vehicle, in the visual range of the camera, must follow a specified path. A solution to this problem is developed through a non linear transformation of the path following problem into a reference trajectory tracking problem, by modeling the target point as a virtual vehicle. Bounded feedback laws must be then used on the real vehicle's angular acceleration and the virtual vehicle's velocity, to achieve stability. The resulting controller is globally asymptotically stable with respect and the proof is demonstrated using Lyapunov based arguments and a bootstrap argument. The effectiveness of this controller has been illustrated through simulations.

Full work available at URL: https://arxiv.org/abs/1303.5127

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zbMATH Keywords

global stabilitybounded controlspath followingcar-type vehicleLyapunov-based arguments

Mathematics Subject Classification ID

Feedback control (93B52) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95) Asymptotic stability in control theory (93D20)

Cites Work

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• Path following of car-like vehicles using dynamic inversion
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• Path following for a target point attached to a unicycle type vehicle
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Cited In (4)

• Path following for a target point attached to a unicycle type vehicle
• A unified controller of global trajectory tracking and posture regulation for a car-like mobile robot
• Path-following with a bounded-curvature vehicle: a hybrid control approach
• Nonlinear feedback control and trajectory tracking of vehicle

Uses Software

• ARGO

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