Trajectory tracking control for a kinematic bicycle model

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper deals with the trajectory tracking control problem in the kinematic bicycle model. To avoid possible singular states in the control system for the model under consideration we apply a sigmoid function (hyperbolic tangent) in the feedback loop. We present an error function between the real and virtual vehicles that follows the required trajectory, and introduce a control law that stabilizes asymptotically the zero error state in the error dynamics. In addition, the proposed algorithm allows us to handle the control problem in cases where actuator saturations and state constraints exist. The paper is concluded with an example that demonstrate the characteristics of the control law and its performance.

Original languageEnglish
Title of host publication2020 28th Mediterranean Conference on Control and Automation, MED 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages526-531
Number of pages6
ISBN (Electronic)9781728157429
DOIs
StatePublished - 1 Sep 2020
Event28th Mediterranean Conference on Control and Automation, MED 2020 - Saint-Raphael, France
Duration: 15 Sep 202018 Sep 2020

Publication series

Name2020 28th Mediterranean Conference on Control and Automation, MED 2020

Conference

Conference28th Mediterranean Conference on Control and Automation, MED 2020
Country/TerritoryFrance
CitySaint-Raphael
Period15/09/2018/09/20

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Modeling and Simulation

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