On controllability and trajectory tracking of a kinematic vehicle model

Amit Ailon, Nadav Berman, Shai Arogeti

Research output: Contribution to journalArticlepeer-review

58 Scopus citations

Abstract

This paper presents some further results concerning the issues of controllability and trajectory tracking regarding a front-wheel drive vehicle kinematic model. A simple procedure for computing an open-loop control strategy that transfers the system between given initial and final states, is presented. In particular, the input function is computed by means of a set of linear algebraic equations. The resulting motion planning procedure allows us to present a control scheme for solving the trajectory (a time-parameterized reference signal) tracking problem. Various applications of the approach in forward and backward motions are considered, and simulation results are presented.

Original languageEnglish
Pages (from-to)889-896
Number of pages8
JournalAutomatica
Volume41
Issue number5
DOIs
StatePublished - 1 May 2005

Keywords

  • Controllability
  • Kinematic model
  • Lyapunov stability
  • Nonholonomic constraints
  • Trajectory tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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