Path following for a car-like robot using transverse feedback linearization and tangential dynamic extension

Adeel Akhtar; Christopher Nielsen

doi:10.1109/CDC.2011.6161413

Path following for a car-like robot using transverse feedback linearization and tangential dynamic extension

Adeel Akhtar, Christopher Nielsen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 Scopus citations

Abstract

This article proposes a path following controller for the two input kinematic model of a car-like robot. A smooth dynamic feedback control law is designed to make the car's position follow a large class of curves with the desired speed along the curve. The controller guarantees the property of path invariance. The controller is designed by characterizing the path following manifold when one input is fixed. Once the path following manifold is found we apply dynamic extension to increase its dimension. We refer to this process as tangential dynamic extension. We then find a physically meaningful differentially flat output for the extended system which allows us to easily solve the path following problem. © 2011 IEEE.

Original language	English (US)
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7974-7979
Number of pages	6
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6161413
State	Published - Jan 1 2011
Externally published	Yes

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10.1109/CDC.2011.6161413

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title = "Path following for a car-like robot using transverse feedback linearization and tangential dynamic extension",

abstract = "This article proposes a path following controller for the two input kinematic model of a car-like robot. A smooth dynamic feedback control law is designed to make the car's position follow a large class of curves with the desired speed along the curve. The controller guarantees the property of path invariance. The controller is designed by characterizing the path following manifold when one input is fixed. Once the path following manifold is found we apply dynamic extension to increase its dimension. We refer to this process as tangential dynamic extension. We then find a physically meaningful differentially flat output for the extended system which allows us to easily solve the path following problem. {\textcopyright} 2011 IEEE.",

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Path following for a car-like robot using transverse feedback linearization and tangential dynamic extension. / Akhtar, Adeel; Nielsen, Christopher.
Proceedings of the IEEE Conference on Decision and Control. Institute of Electrical and Electronics Engineers Inc., 2011. p. 7974-7979.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - This article proposes a path following controller for the two input kinematic model of a car-like robot. A smooth dynamic feedback control law is designed to make the car's position follow a large class of curves with the desired speed along the curve. The controller guarantees the property of path invariance. The controller is designed by characterizing the path following manifold when one input is fixed. Once the path following manifold is found we apply dynamic extension to increase its dimension. We refer to this process as tangential dynamic extension. We then find a physically meaningful differentially flat output for the extended system which allows us to easily solve the path following problem. © 2011 IEEE.

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BT - Proceedings of the IEEE Conference on Decision and Control

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Path following for a car-like robot using transverse feedback linearization and tangential dynamic extension

Abstract

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