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Following a path of varying curvature as an output regulation problem

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1 Author(s)
Altafini, C. ; Div. of Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden

Given a path of nonconstant curvature, local asymptotic stability can be proven for the general n trailer whenever the curvature can be considered as the output of an exogenous dynamical system. The controllers that provide convergence to zero of the tracking error chosen for the path-following problem are composed of a prefeedback that input-output linearizes the system, plus a linear controller.

Published in:

Automatic Control, IEEE Transactions on  (Volume:47 ,  Issue: 9 )