Path following for a target point attached to a unicycle type vehicle

DOI10.1007/S10440-012-9672-8MaRDI QIDQ693159zbMATHOpenAlexFDO

Authors Salah Laghrouche, Yacine Chitour, F. S. Ahmed, Mohamed Harmouche

Publication date 7 December 2012

Published in Acta Applicandae Mathematicae (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1303.5118

zbMATH Keywords

global stabilizationpath followingunicycleattached target point

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Abstract: In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis, which links the curvature of the path to be followed with the target point. The proposed controller allows global stabilization without restrictions on initial conditions. The effectiveness of this controller is illustrated through simulations.

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Cites work

• scientific article; zbMATH DE number 4117910 (Why is no real title available?)
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Control of mobile platforms using a virtual vehicle approach
• Global stabilization and restricted tracking for multiple integrators with bounded controls
• On Finite-Gain Stabilizability of Linear Systems Subject to Input Saturation
• On the continuity and incremental‐gain properties of certain saturated linear feedback loops
• On theL^p-stabilization of the double integrator subject to input saturation
• Path following of car-like vehicles using dynamic inversion
• Saturated stabilization and tracking of a nonholonomic mobile robot

Cited in

(5)

• Restriction of transverse feedback linearization for piecewise linear paths
• Global tracking for underactuated ships with bounded feedback controllers
• Motion planning and feedback control for a unicycle in a way point following task: the VFO approach
• \(L_p\)-stabilization of integrator chains subject to input saturation using Lyapunov-based homogeneous design
• Target point-based path-following controller for a car-type vehicle using bounded controls

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