TY - JOUR
T1 - Following a path of varying curvature as an output regulation problem
JF - IEEE Trans. Automatic Control 47 (2002) 1551-1556
Y1 - 2002
A1 - Claudio Altafini
AB - 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.
PB - IEEE
UR - http://hdl.handle.net/1963/3143
U1 - 1190
U2 - Mathematics
U3 - Functional Analysis and Applications
ER -