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
Closed loop smooth steering of unicycle-like vehicles
BALESTRINO, ALDO;
1994-01-01
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 reportedFile in questo prodotto:
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