A 3D path-following velocity-tracking controller for autonomous vehicles

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 16, Issue , 2005, Pages 73-78

  Cunha, Rita ^a   Silvestre, Carlos ^a  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

Author keywords

Autonomous vehicles; Error control; Helicopter control; Implementation; Tracking systems

Indexed keywords

AIRCRAFT CONTROL; AIRCRAFT DETECTION; ASYMPTOTIC STABILITY; CLOSED LOOP SYSTEMS; CONTROLLERS; ERRORS; TRIMMING;

CONTROLLER IMPLEMENTATION; ERROR CONTROL; HELICOPTER CONTROL; IMPLEMENTATION; PATH-FOLLOWING PROBLEMS; TRACKING SYSTEM; VEHICLE ORIENTATION; VELOCITY PROFILES;

AUTONOMOUS VEHICLES;

EID: 79960713459     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20050703-6-cz-1902.02064     Document Type: Conference Paper

References (11)

1. Aguiar, P. and J. Hespanha (2004). Trajectorytracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty. Submitted to IEEE TAC.
2. Cunha, R. and C. Silvestre (2003). Dynamic modeling and stability analysis of model-scale helicopters with bell-hiller stabilizing bar. In: AIAA Guidance, Navigation, and Control Conference.
3. Cunha, R. and C. Silvestre (2004). Path-following velocity-tracking control for autonomous vehicles. Technical report. ISR-IST.
4. Cunha, R., C. Silvestre and A. Pascoal (2003). A path following controller for model-scale helicopters. In: European Control Conference.
5. Encarnação, P. and A. Pascoal (2000). 3D path following for autonomous underwater vehicle. In: 39th IEEE Conference on Decision and Control. pp. 2977-2982.
6. Ghaoui, L. El and Niculescu, S. I., Eds.) (1999). Advances in Linear Matrix Inequality Methods in Control. SIAM. Philadelphia.
7. Kaminer, I., A. Pascoal, E. Hallberg and C. Silvestre (1998). Trajectory tracking for autonomous vehicles: an integrated approach to guidance and control. AIAA Journal of Guidance, Control, and Dynamics 21(1), 29-38.
8. Kaminer, I., A. Pascoal, P. Khargonekar and E. Coleman (1995). A velocity algorithm for the implementation of gain-scheduled controllers. Automatica 31(8), 1185-1191.
9. Micaelli, A. and C. Samson (1993). Trajectory tracking for unicycle-type and two-steeringwheels mobile robots. Technical Report 2097. INRIA.
10. Silvestre, C., A. Pascoal and I. Kaminer (2002). On the design of gain-scheduled trajectory tracking controllers. International Journal of Robust and Nonlinear Control 12, 797-839.
11. Soeanto, D., L. Lapierre and A. Pascoal (2003). Adaptive non-singular path-following, control of dynamic wheeled robots. In: 11th International Conference on Advanced Robotics. pp. 1387-1392.