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Hybrid Feedback Control for Path Tracking by a Bounded—Curbature Vehicle

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Hybrid Systems: Computation and Control (HSCC 2001)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2034))

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Abstract

In this paper, we consider the problem of stabilizing the kinematic model of a car to a general path in the plane, subject to very mild restrictions. The car model, although rather simplified, contains some of the most relevant limitations that make application of existing results in the literature impossible: namely, the car can only move forward, and turn with a bounded steering radius; also, only limited sensory information is available.

The approach we follow to stabilization is to adapt to the present general case an optimal synthesis approach successfully applied in our previous work to tracking rectilinear paths. Due to both the nature of the problem, and the solution technique used, the analysis of the controlled system involves a rather complex switching logic. Hybrid formalism and verification techniques prove extremely useful in this context to formally proof stability of the resulting system, and are described in detail in the paper.

The work has been conducted with partial support of PARADES, a Cadence, Magneti-Marelli and ST-microelectronics E.E.I.G, by CNR PF MADESSII SP3.1.2.

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Author information

Authors and Affiliations

  1. PARADES, Via di S.Pantaleo, 66, 00186, Roma, Italy

    Andrea Balluchi

  2. Laboratoire d’Analyse et d’Architecture des Systémes — LAAS, CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse, France

    Philippe Souéres

  3. Centro Interdipartimentale di Ricerca “Enrico Piaggio”, Universitá di Pisa, 56100, Pisa, Italy

    Antonio Bicchi

Authors
  1. Andrea Balluchi
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  2. Philippe Souéres
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  3. Antonio Bicchi
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Editor information

Editors and Affiliations

  1. Dipartimento di Ingegneria Elettrica, Universitá dell’Aquila, Poggio di Roio, 67040, L’Aquila, Italy

    Maria Domenica Di Benedetto

  2. University of California at Berkeley, Berkeley, CA, 94720

    Alberto Sangiovanni-Vincentelli

  3. PARADES, Via San Pantaleo, 66, 00186, Roma, Italy

    Alberto Sangiovanni-Vincentelli

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© 2001 Springer-Verlag Berlin Heidelberg

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Balluchi, A., Souéres, P., Bicchi, A. (2001). Hybrid Feedback Control for Path Tracking by a Bounded—Curbature Vehicle. In: Di Benedetto, M.D., Sangiovanni-Vincentelli, A. (eds) Hybrid Systems: Computation and Control. HSCC 2001. Lecture Notes in Computer Science, vol 2034. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45351-2_14

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  • DOI: https://doi.org/10.1007/3-540-45351-2_14

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-41866-5

  • Online ISBN: 978-3-540-45351-2

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