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Author Laghrouche, S. ♦ Harmouche, M. ♦ Chitour, Y.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2012
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Vehicles ♦ Trajectory ♦ Equations ♦ Vehicle dynamics ♦ Asymptotic stability ♦ Convergence ♦ Navigation
Abstract In this paper, we have studied the control problem of path following for car type vehicles. The target-point based path following problem has been transformed into a reference trajectory following problem, using bounded feedback control laws. The contribution of this work lies in the global asymptotic stability, without restrictions on initial conditions. The proof of global stability has been presented using Lyapunov based arguments, which show that the system converges to zero in boot-strap manner. The effectiveness of this controller has been illustrated through simulations.
Description Author affiliation: L2S Laboratory, Supelec, Paris, France (Chitour, Y.) || SET Laboratory, UTBM, Belfort, France (Laghrouche, S.; Harmouche, M.)
ISBN 9781467320658
ISSN 07431546
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2012-12-10
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781467320665
Size (in Bytes) 292.30 kB
Page Count 6
Starting Page 562
Ending Page 567

Source: IEEE Xplore Digital Library