DocumentCode
815432
Title
Following a path of varying curvature as an output regulation problem
Author
Altafini, Claudio
Author_Institution
Div. of Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden
Volume
47
Issue
9
fYear
2002
fDate
9/1/2002 12:00:00 AM
Firstpage
1551
Lastpage
1556
Abstract
Given a path of nonconstant curvature, local asymptotic stability can be proven for the general n trailer whenever the curvature can be considered as the output of an exogenous dynamical system. The controllers that provide convergence to zero of the tracking error chosen for the path-following problem are composed of a prefeedback that input-output linearizes the system, plus a linear controller.
Keywords
asymptotic stability; eigenvalues and eigenfunctions; feedback; path planning; stochastic systems; controllers; exogenous dynamical system; linear controller; local asymptotic stability; nonconstant curvature; output regulation problem; prefeedback; varying curvature; Asymptotic stability; Axles; Books; Control systems; Error correction; Optimal control; Steady-state; Transient analysis; Vehicle dynamics; Vehicles;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2002.802750
Filename
1032317
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