Arbitrary Configuration Stabilization Control for Nonholonomic Vehicle With Input Saturation: A c-Nonholonomic Trajectory Approach

Abstract

This article addresses the saturated stabilization control problem for nonholonomic vehicles with a novel c-nonholonomic trajectory approach on <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{SE}(2)$</tex-math></inline-formula> , with applications to automatic parking. First, by defining the c-nonholonomic configuration, a c-nonholonomic trajectory is obtained, which provides a novel approach to design stabilization controller to reach an arbitrary configuration. Second, a global discontinuous time-invariant feedback controller with input saturation is proposed, which does not involve time signal information, and its convergence is illustrated by a Lyapunov function approach. Thereafter, the motion trajectory of the proposed controller is analyzed, and the application scenario in automatic parking with the approximate desired trajectory is demonstrated. Finally, the performance of the proposed controller is validated by both numerical simulations and experiments.