不確かなDubinsシステムにおける曲率制約経路のロバスト追従
Robust Tracking of Curvature-Constrained Paths for Uncertain Dubins Systems
モデル不確かさを持つDubins車両に対して、横座標系でスライディングモード制御を用いたロバストな経路追従コントローラを提案し、外乱下でも横方向誤差と方位誤差をゼロに収束させることを示した。
著者: Xingjian Xue, Sze Zheng Yong
分類: eess.SY
原文アブストラクト
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and convergent tracking under model uncertainties remains understudied. To address this, we propose path tracking controllers based on sliding mode control, formulated in the transverse coordinate frame, which guarantee invariance and convergence of both lateral and heading errors to zero in the presence of bounded disturbances. Simulation results show that the proposed method reliably tracks paths despite disturbances and significantly outperforms existing methods based on sliding mode controllers.