Abstract
This letter presents a control method for vehicles with first-order nonholonomic constraints that guarantees asymptotic convergence to a time-indexed trajectory. To overcome the nonholonomic constraint, a fixed point in front of the vehicle can be controlled to track a desired trajectory, albeit with a steady-state error. To eliminate steady state error, a sufficiently smooth trajectory is reformulated for the new reference point such that, when tracking the new trajectory, the vehicle asymptotically converges to the original trajectory. The results of the control method are evaluated to view the effects of errors due to estimation and initial conditions.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
