Target-point based path following controller for car-type vehicle using bounded feedback

摘要

In this paper, we have studied the control problem of path following for car type vehicles. The target-point based path following problem has been transformed into a reference trajectory following problem, using bounded feedback control laws. The contribution of this work lies in the global asymptotic stability, without restrictions on initial conditions. The proof of global stability has been presented using Lyapunov based arguments, which show that the system converges to zero in boot-strap manner. The effectiveness of this controller has been illustrated through simulations.