TY - GEN
T1 - A New Planar Path-Following Control for Non-Holonomic Systems
AU - Song, Jiawei
AU - Zuo, Zongyu
AU - Zhu, Bing
AU - Xia, Xiaohua
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - 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.
AB - 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.
KW - Sliding mode control
KW - implicit path
KW - planar path following
UR - https://www.scopus.com/pages/publications/85075794520
U2 - 10.1109/ICCA.2019.8899624
DO - 10.1109/ICCA.2019.8899624
M3 - 会议稿件
AN - SCOPUS:85075794520
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 254
EP - 259
BT - 2019 IEEE 15th International Conference on Control and Automation, ICCA 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Control and Automation, ICCA 2019
Y2 - 16 July 2019 through 19 July 2019
ER -