Name
Abstract | ||
|---|---|---|
In this paper, a novel planar path-following controller is presented based on the implicit path formulation. In the design, the path-following problem is restated as a stabilization problem of a second order system, i.e., designing the forward speed and the steering law to stabilize the heading error and the lateral distance to zero. Based on a new interesting design of the sliding surface, the proposed controller achieves the global asymptotical stability of the heading error and the implicit lateral distance at the origin. Both simulation and experimental results are presented to validate the effectiveness of the proposed controller. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ICCA.2019.8899624 | 2019 IEEE 15th International Conference on Control and Automation (ICCA) |
Keywords | Field | DocType |
Sliding mode control,planar path following,implicit path | Control theory,Holonomic,Second-order logic,Control theory,Path following,Planar,Steering law,Engineering,Sliding mode control | Conference |
ISSN | ISBN | Citations |
1948-3449 | 978-1-7281-1165-0 | 0 |
PageRank | References | Authors |
0.34 | 7 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jiawei Song | 1 | 0 | 0.34 |
| Zongyu Zuo | 2 | 560 | 30.83 |
| Bing Zhu | 3 | 99 | 14.45 |
| Xiaohua Xia | 4 | 468 | 48.50 |