A hybrid feedback control system for a nonholonomic car-like vehicle

摘要

This paper addresses the design of a hybrid feedback control system enabling a car-like, rectangular vehicle to perform a tight L-shaped turn manoeuvre. This case constitutes an effort towards the definition of a general purpose methodology for hybrid feedback control synthesis. The design effort encompasses the synthesis of a set of modalities and mechanisms to detect relevant events enabling the overall motion coordination so that a global goal is attempted. Simulations of the implemented controller have shown a strong robustness with respect to modeling uncertainty and execution errors.