Title :
Stability and robustness of optimal synthesis for route tracking by Dubins´ vehicles
Author :
Balluchi, A. ; Bicchi, A. ; Piccoli, B. ; Souéres, P.
Author_Institution :
PARADES, Rome, Italy
Abstract :
We consider the properties of stability and robustness of an optimal control synthesis obtained for the problem of route tracking by a kinematic vehicle moving forward only with a lower bounded turning radius. This model, sometimes referred to as “Dubins´ vehicle”, is relevant to the kinematics of road vehicles as well as aircraft cruising at constant altitude, or sea vessels
Keywords :
control system synthesis; kinematics; mobile robots; multidimensional systems; optimal control; position control; robust control; set theory; vehicles; Dubins´ vehicles; aircraft; kinematic vehicle; lower bounded turning radius; optimal synthesis; road vehicles; robustness; route tracking; sea vessels; Angular velocity; Convergence; Feedback control; Optimal control; Road vehicles; Robot kinematics; Robust control; Robust stability; State-space methods; Turning;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912827
