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

DOI10.1007/S10440-012-9672-8zbMATH Open1253.93089arXiv1303.5118OpenAlexW1987122684MaRDI QIDQ693159FDOQ693159

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

Publication date: 7 December 2012

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

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.

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

Recommendations

• Nonsingular path following control of a unicycle in the presence of parametric modelling uncertainties
• Target point-based path-following controller for a car-type vehicle using bounded controls
• A new geometric trajectory tracking controller for the unicycle mobile robot
• A mixed gH₂/H approach for stabilization and accurate trajectory tracking of unicycle-like vehicles
• Path-following with a bounded-curvature vehicle: a hybrid control approach

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)

Cites Work

• Global stabilization and restricted tracking for multiple integrators with bounded controls
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• On Finite-Gain Stabilizability of Linear Systems Subject to Input Saturation
• Saturated stabilization and tracking of a nonholonomic mobile robot
• Control of mobile platforms using a virtual vehicle approach
• Path following of car-like vehicles using dynamic inversion
• On theL^p-stabilization of the double integrator subject to input saturation
• Title not available (Why is that?)
• On the continuity and incremental‐gain properties of certain saturated linear feedback loops

Cited In (3)

• Target point-based path-following controller for a car-type vehicle using bounded controls
• $L_p$-Stabilization of Integrator Chains Subject to Input Saturation Using Lyapunov-Based Homogeneous Design
• Global tracking for underactuated ships with bounded feedback controllers

This page was built for publication: Path following for a target point attached to a unicycle type vehicle

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q693159)