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Following a path of varying curvature as an output regulation problem

Summary: Following a path of varying curvature as an output
regulation problem
Claudio Alta ni 
International School for Advanced Studies
via Beirut 2-4, 34014 Trieste, Italy
alta ni@sissa.it
June 5, 2002
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: path following, wheeled vehicles, output regulation.
1 Introduction
In the several studies dealing with path following for wheeled vehicles, see for example
the papers [12, 13, 14] or the book chapters [4, 3, 9], convergence is usually proven
for paths of constant curvature. In fact, that represents the only case in which the
decoupling between lateral and longitudinal dynamics is exact for the original system


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


Collections: Engineering; Mathematics