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SUBMITTED TO IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, MAY 2001 1 Path Following with Reduced O -Tracking for
 

Summary: SUBMITTED TO IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, MAY 2001 1
Path Following with Reduced O -Tracking for
Multibody Wheeled Vehicles
Claudio Alta ni
Abstract| Our purpose is to provide a formulation of the
path following problem for multibody kinematic wheeled ve-
hicles aiming to keep the whole vehicle at a reduced distance
from a given path, i.e. to reduce the o -tracking distance
of the vehicle from the path. In the proposed setting, the
stabilization problem for paths of constant curvature is lo-
cally solvable by a simple linear feedback law. In order to
quantify how much cumbersome a vehicle is along a given
path, we provide two di erent estimates of the o -tracking
bound, i.e. of the minimal clearance that has to be left
around the path in order for the vehicle to pass through in
case of perfect tracking. Experimental results on a minia-
ture multibody vehicle are reported.
Keywords| Multibody wheeled vehicle, Path following,
O -tracking distance, Feedback linearization.
I. Introduction

  

Source: Altafini, Claudio - Functional Analysis Sector, Scuola Internazionale Superiore di Studi Avanzati (SISSA)

 

Collections: Engineering; Mathematics