2005

paper

english

EN The paper presents a proposition of the trajectory tracking task solution for the car-like threecycle mobile vehicle from a theoretical point of view. Proposed concept comes from the Vector Field Orientation (VFO) approach introduced for example in [9] and [10]. The VFO methodology results from a simple geometrical interpretation of the possible time evolution of the considered kinematics in a response to specific control signals. The characteristic features of the obtained VFO controller are its simple and intuitive synthesis and natural transient states of the controlled vehicle in a task space. Control performances are illustrated by simulation results.

1119 - 1124

10.1109/CDC.2005.1582308

https://ieeexplore.ieee.org/document/1582308

Proceedings 44th IEEE Conference on Decision and Control and European Control Conference ECC'05, Seville, Spain, December 12-15, 2005

44th IEEE Conference on Decision and Control and European Control Conference ECC'05, 12-15.12.2005, Seville, Spain