CLOSED-LOOP STEERING OF UNICYCLE-LIKE VEHICLES VIA LYAPUNOV TECHNIQUES

被引：308

作者：

AICARDI, M ^{[1
]}

CASALINO, G ^{[1
]}

BICCHI, A ^{[1
]}

BALESTRINO, A ^{[1
]}

机构：

[1] UNIV PISA,DEPT ELECT SYST & AUTOMAT,I-56100 PISA,ITALY

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 1995年 / 2卷 / 01期

关键词：

D O I：

10.1109/100.388294

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

With a special choice for the system state equations, the use of the simplest quadratic form as candidate Lyapunov function directly leads to the definition of very simple, smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation. The authors provide simulation examples to show the effectiveness and, in a sense, the ''natural behavior'' of the obtained closed loop motions (whenever compared with our everyday driving experience).

引用

页码：27 / 35

页数：9

共 9 条

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[4] CASALINO G, 1994, SEP P SY RO CO 94 CA
[5] DEWIT C, 1992, IEEE T AUTOMATIC CON, V37, P1792
[6] NONHOLONOMIC MOTION PLANNING - STEERING USING SINUSOIDS
MURRAY, RM
SASTRY, SS
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1993, 38 (05) : 700 - 716
[7] TIME-VARYING FEEDBACK STABILIZATION OF CAR-LIKE WHEELED MOBILE ROBOTS
SAMSON, C
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1993, 12 (01) : 55 - 64
[8] Slotine J.-J.E., 1991, APPLIED NONLINEAR CO
[9] TILBURY D, 1992, STEERING 3 INPUT NON

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