Trajectory tracking control for a kinematic bicycle model

Amit Ailon; Shai Arogeti

doi:10.1109/MED48518.2020.9183161

Trajectory tracking control for a kinematic bicycle model

Amit Ailon, Shai Arogeti

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 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 language	English
Title of host publication	2020 28th Mediterranean Conference on Control and Automation, MED 2020
Publisher	Institute of Electrical and Electronics Engineers
Pages	526-531
Number of pages	6
ISBN (Electronic)	9781728157429
DOIs	https://doi.org/10.1109/MED48518.2020.9183161
State	Published - 1 Sep 2020
Event	28th Mediterranean Conference on Control and Automation, MED 2020 - Saint-Raphael, France Duration: 15 Sep 2020 → 18 Sep 2020

Publication series

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

Conference

Conference	28th Mediterranean Conference on Control and Automation, MED 2020
Country/Territory	France
City	Saint-Raphael
Period	15/09/20 → 18/09/20

ASJC Scopus subject areas

Control and Systems Engineering
Control and Optimization
Modeling and Simulation

Access to Document

10.1109/MED48518.2020.9183161

Cite this

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title = "Trajectory tracking control for a kinematic bicycle model",

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.",

author = "Amit Ailon and Shai Arogeti",

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doi = "10.1109/MED48518.2020.9183161",

language = "English",

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Ailon, A & Arogeti, S 2020, Trajectory tracking control for a kinematic bicycle model. in 2020 28th Mediterranean Conference on Control and Automation, MED 2020., 9183161, 2020 28th Mediterranean Conference on Control and Automation, MED 2020, Institute of Electrical and Electronics Engineers, pp. 526-531, 28th Mediterranean Conference on Control and Automation, MED 2020, Saint-Raphael, France, 15/09/20. https://doi.org/10.1109/MED48518.2020.9183161

Trajectory tracking control for a kinematic bicycle model. / Ailon, Amit ; Arogeti, Shai.
2020 28th Mediterranean Conference on Control and Automation, MED 2020. Institute of Electrical and Electronics Engineers, 2020. p. 526-531 9183161 (2020 28th Mediterranean Conference on Control and Automation, MED 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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Trajectory tracking control for a kinematic bicycle model

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