Trajectory Tracking for Nonholonomic Vehicles

2007 ◽  
pp. 3-23 ◽  
Author(s):  
Pascal Morin ◽  
Claude Samson
Keyword(s):  
Trajectory Tracking ◽  
Nonholonomic Vehicles

Cooperative Deterministic Learning-Based Trajectory Tracking for a Group of Unicycle-Type Vehicles

2018 ◽  
Author(s):  
Xiaonan Dong ◽  
Chengzhi Yuan ◽  
Fen Wu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Rbf Neural Network ◽  
Lyapunov Stability Theory ◽  
State Feedback Control ◽  
Trajectory Tracking Control ◽  
Deterministic Learning ◽  
Nonholonomic Vehicles ◽  
Joint Tracking ◽  
Reference Trajectories

A cooperative deterministic learning based state feedback control algorithm is proposed in this paper for joint tracking control and learning/identification for a group of identical nonholonomic vehicles. Specifically, this algorithm is able to model the unknown nonlinear dynamics of the nonholonomic vehicle, and use it for trajectory tracking control with cooperative deterministic learning (DL) theory. In addition, cooperative DL grants every vehicle in the system the ability of knowledge learning not only along the trajectory of its own, but also along the trajectories of all other vehicles as well. It is shown using Lyapunov stability theory that with cooperative DL, the closed-loop system is guaranteed to be stable, with all vehicles tracking its own reference trajectories, and the radial basis function (RBF) neural network (NN) weights of all agents converge to the same constants.

Trajectory tracking with collision avoidance for nonholonomic vehicles with acceleration constraints and limited sensing

2014 ◽  
Vol 33 (12) ◽  
pp. 1569-1592 ◽  
Author(s):  
Erick J. Rodríguez-Seda ◽  
Chinpei Tang ◽  
Mark W. Spong ◽  
Dušan M. Stipanović
Keyword(s):  
Collision Avoidance ◽  
Trajectory Tracking ◽  
Limited Sensing ◽  
Nonholonomic Vehicles

Output trajectory tracking for mechanical systems with dry friction: A DPC approach

1997 ◽  
Author(s):  
D. von Wissel ◽  
R. Nikoukhah ◽  
F. Delebecque ◽  
P.-A. Bliman ◽  
M. Soline
Keyword(s):  
Trajectory Tracking ◽  
Dry Friction ◽  
Mechanical Systems ◽  
Output Trajectory
Sign in / Sign up

Export Citation Format

Share Document