Abstract
In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis, which links the curvature of the path to be followed with the target point. The proposed controller allows global stabilization without restrictions on initial conditions. The effectiveness of this controller is illustrated through simulations.
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Acknowledgements
The authors thank E. Panteley and W. Pasillas-Lépine for their constructive remarks.
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Laghrouche, S., Chitour, Y., Harmouche, M. et al. Path Following for a Target Point Attached to a Unicycle Type Vehicle. Acta Appl Math 121, 29–43 (2012). https://doi.org/10.1007/s10440-012-9672-8
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DOI: https://doi.org/10.1007/s10440-012-9672-8