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 experience).


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    Title :

    Closed loop steering of unicycle like vehicles via Lyapunov techniques


    Additional title:

    Regelung eines Einradfahrzeuges mit der Ljapunow-Methode


    Contributors:
    Aicardi, M. (author) / Casalino, G. (author) / Bicchi, A. (author) / Balestrino, A. (author)

    Published in:

    Publication date :

    1995


    Size :

    9 Seiten, 9 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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