Closed loop steering of unicycle like vehicles via Lyapunov techniques
- 1 March 1995
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics & Automation Magazine
- Vol. 2 (1) , 27-35
- https://doi.org/10.1109/100.388294
Abstract
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 (when compared with everyday driving experienceKeywords
This publication has 4 references indexed in Scilit:
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