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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2024

Autores

Fernandes, MCRM (Autor) Outra; Fontes, Fernando A C C (Autor) FEUP

Ata de Conferência Internacional

Título: 2024 EUROPEAN CONTROL CONFERENCE, ECC 2024

Páginas: 621-626

European Control Conference (ECC)

Stockholm, SWEDEN, JUN 25-28, 2024

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6