Autors: Petrov P., Kralov, I. M.
Title: A Nonlinear Control for the Path Tracking Problem of Autonomous Bi-Steerable Vehicles
Keywords: asymptotic stabilization, bi-steerable vehicle, nonlinear control, path following

Abstract: In this paper, a path tracking controller for a bi-steerable vehicle is presented. Based on a kinematic path tracking model of the car in error coordinates expressed in a coordinate system moving along the reference path, a nonlinear feedback control is designed using Lyapunov-based control design techniques, which yields asymptotic stability result. Simulation tests are presented. The results demonstrate that the problem of path tracking control of a bi-steerable vehicle is solved with fast convergence and good transient performance.

References

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Issue

National Conference with International Participation, TELECOM, 2024, Bulgaria, https://doi.org/10.1109/TELECOM63374.2024.10812291

Copyright IEEE

Вид: публикация в международен форум, публикация в реферирано издание, индексирана в Scopus