Closed loop smooth steering of unicycle-like vehicles
- 1 January 1994
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2455-2458
- https://doi.org/10.1109/cdc.1994.411509
Abstract
Within this paper it is shown that, provided a special choice for the system state equations is a priori made, the use of the simplest quadratic form as candidate Lyapunov function, directly leads to the definition of smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation among assigned points. Some considerations about the curvature of the corresponding manoeuvres are also reported.Keywords
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