A Path-Following Guidance Method for Nonholonomic Vehicles with a Large Domain of Attraction for Straight and Curved Paths

• Type: Article in International Conference Proceedings Book
• Date: 2024

Authors

Fernandes, MCRM (Author) Other; Fontes, Fernando A C C (Author) FEUP

Conference proceedings International

Title: 2024 EUROPEAN CONTROL CONFERENCE, ECC 2024

Pages: 621-626

European Control Conference (ECC)

Stockholm, SWEDEN, JUN 25-28, 2024

Indexing

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Other information

Authenticus ID: P-016-T4V

DOI: 10.23919/ecc64448.2024.10590773

Abstract (EN): Path-following control is an alternative technique to trajectory tracking, with superior performance characteristics when applied to a class of nonholonomic systems, especially relevant in the case of unmanned vehicles. In this work, we study a variant of a well-known guidance logic path-following control and analyze its stability. In particular, we show that the studied method not only maintains the stabilizing properties in a neighborhood of the path, but significantly enlarges the domain of attraction of the control law, both when following a straight or a curved path.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6