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Rear-Steered Vehicle *
Anugrah K. Pamosoaji
e z f ( z ) z z z , (19) vr e
Y
where z is a translation along z -axis. For any z D1 , R
there exists a e z D2 if and only if z satisfies v r Yr
e e
z z k b,2 z z z k a,2 . (20) j
Y
Proof: Let M be a non-negative constant. Applying er E
z z k b,2 M to (19) yields e z k b,2 M . Since M is O
nonnegative, the maximum ez is ez k b,2 . In other words, if Fig. 2. The vehicle O will move towards guidance point E while E moves
towards the reference R.
M 0 then ez belongs to D1 . On the other hand, applying
z z z ka,2 M to (19) yields ez ka,2 M . Since M Consequently, min V 0 at arg min V z z1 . The
z
is nonnegative, the minimum ez is ez ka,2 , or in other time-derivative of V (ez ) is
words, if M 0 , e z belongs to D1 , as well.
Definition ddd1: Let us consider a region and
V k z ,1q ( y )e z z k a2 e z2
1
where 0.
Proof: Let us introduce a Lyapunov candidate function
formulated as
z , if z ( , ]
( z) (30) V Vr V V , (39)
z 2sign ( x) , otherwise.
In order to build transformed Lyapunov functions (TBLFs), Where V r , V , and V are candidate TLBFs and are
we define r a and r b , a ( ,0) and described as
b [0, ] , and a ( ,0) and b [0, ] as the lower
and upper limits of r , , and , respectively; and r ,
V (er ) 0.5 q(e r )k r ln r a2 r a2 er2
1
e vr r 1 sin
1 q (e ) k ln b2 b2 e2 1
,
(41)
e vr r 1 sin vdr r 1 sin cos r . (33)
-80
-100
-120
-140
0 5 10 15
Time(s)
REFERENCES
[1] A. P. Aguiar, J. P. Hespanha, and P. V. Kokotovic, Path-Following
for Nonminimum Phase Systems Removes Performance Limitations,
IEEE Transactions on Automatic Control, vol. 20, no. 2, pp. 234-239,
2005.
[2] T. A., Tamba, B. Hong, and K.-S. Hong, A Path Following Control of
An Unmanned Autonomous Vehicle, International Journal of
Control, Automation, and Systems, vol. 7, no. 1, pp. 113-122, 2009.