Shared Control for the Nonlinear Dynamic Model of a Car-like Robot

Shirui Song

doi:10.54691/czjx8h14

Authors

Shirui Song

DOI:

https://doi.org/10.54691/czjx8h14

Keywords:

Car-like robot, nonlinear control, obstacle avoidance, dynamic feedback linearization.

Abstract

In this paper we study the shared control problem for a car-like robot and derive a feedback controller which guarantees the safety of the robot in the presence of stationary obstacles. The actual shape of the robot is explicitly considered by defining an appropriate distance to be used in the control design. It is shown that the use of dynamic extension plus partial feedback linearization allows constructing a Lyapunov function from which a safe controller can be designed. Simulations results on the model of rear-wheel-driving and front-wheel-driving cars are used to validate the theoretical development.

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