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EnglishWithin this paper it is shown that, provided a special choice for the system state equations is a priori made, the use of the simplest quadratic form as candidate Lyapunov function, directly leads to the definition of smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation among assigned points. Some considerations about the curvature of the corresponding manoeuvres are also reported
| Titolo: | Closed loop smooth steering of unicycle-like vehicles |
| Autori interni: | |
| Anno del prodotto: | 1994 |
| Abstract: | Within this paper it is shown that, provided a special choice for the system state equations is a priori made, the use of the simplest quadratic form as candidate Lyapunov function, directly leads to the definition of smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation among assigned points. Some considerations about the curvature of the corresponding manoeuvres are also reported |
| Handle: | http://hdl.handle.net/11568/26869 |
| ISBN: | 0780319680 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
File in questo prodotto:
http://hdl.handle.net/11568/26869
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