Trajectory Tracking Control by LMI-based Approach for Car-like Robots

Abstract

A lot of research has been done concerning motion planning and trajectory tracking control for robots, including car-like robots. Nevertheless, most of the methods require very well defined trajectories, continuous and several times derivable. Frequently, the system has to be written in a specific form, like the chained form, and the path obtained in the original space may not satisfy additional constraints in the original space or singularities can occur in the control law. The goal of this work is to investigate a control method to do the trajectory tracking control of car-like robots in the original space, which does not require trajectories several times derivable, but with good robustness and pursuit properties in order to implement it on a passenger vehicle. The control law for trajectory tracking presented here is derived from a method developed for unicycles. This is based on a real time combination of static linear feedbacks that are obtained by an off line LMI (Linear Matrix Inequalities) approach.