Path following for a target point attached to a unicycle type vehicle

Abstract : In this article, we have addressed the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis. This hypothesis links the curvature of the path to be followed with the target point. The proposed controller allows global stabilization, without restrictions on initial conditions. The effectiveness of this controller is illustrated through simulations.
Document type :
Journal articles
Complete list of metadatas

Cited literature [25 references]  Display  Hide  Download
Contributor : Fayez Shakil Ahmed <>
Submitted on : Monday, June 4, 2012 - 8:31:16 AM
Last modification on : Saturday, October 19, 2019 - 11:05:21 AM
Long-term archiving on: Wednesday, September 5, 2012 - 2:18:22 AM


Files produced by the author(s)



Salah Laghrouche, Yacine Chitour, Harmouche Mohamed, Fayez S. Ahmed. Path following for a target point attached to a unicycle type vehicle. Acta Applicandae Mathematicae, Springer Verlag, 2012, 121 (1), pp.29-43. ⟨10.1007/s10440-012-9672-8 ⟩. ⟨hal-00578883v2⟩



Record views


Files downloads