Matches in SemOpenAlex for { <https://semopenalex.org/work/W3176233717> ?p ?o ?g. }
Showing items 1 to 98 of
98
with 100 items per page.
- W3176233717 endingPage "1297" @default.
- W3176233717 startingPage "1292" @default.
- W3176233717 abstract "This letter studies the trajectory tracking problem for an autonomous bicycle that is a non-minimum phase, strongly nonlinear system. As compared with most existing methods dealing only with approximate trajectory tracking, this letter proposes a constructive design to achieve asymptotic trajectory tracking. More specifically, under the assumption that the desired trajectory is generated by a virtual bicycle, a novel asymptotic trajectory tracking controller design scheme is presented. Firstly, the nonlinear dynamics of the autonomous bicycle is established. Secondly, it is decomposed into two interconnected subsystems: a tracking subsystem and a balancing subsystem. For the tracking subsystem, the popular backstepping approach is applied to determine the propulsive force of the bicycle. For the balancing subsystem, optimal control is applied to determine the steering angular velocity of the handlebar in order to balance the bicycle and align the bicycle with the desired yaw angle. Thirdly, to tackle the strong coupling between the tracking and the balancing systems, the small-gain technique is applied for the first time to prove the asymptotic stability of the closed-loop bicycle system. Finally, the efficacy of the proposed exact trajectory tracking control methodology is validated by numerical simulations." @default.
- W3176233717 created "2021-07-05" @default.
- W3176233717 creator A5006901857 @default.
- W3176233717 creator A5058849717 @default.
- W3176233717 creator A5062455237 @default.
- W3176233717 creator A5067046312 @default.
- W3176233717 date "2022-01-01" @default.
- W3176233717 modified "2023-10-06" @default.
- W3176233717 title "Asymptotic Trajectory Tracking of Autonomous Bicycles via Backstepping and Optimal Control" @default.
- W3176233717 cites W1957361365 @default.
- W3176233717 cites W2011747427 @default.
- W3176233717 cites W2028044548 @default.
- W3176233717 cites W2035166262 @default.
- W3176233717 cites W2098989671 @default.
- W3176233717 cites W2102348903 @default.
- W3176233717 cites W2133066324 @default.
- W3176233717 cites W2157402463 @default.
- W3176233717 cites W2157630435 @default.
- W3176233717 cites W2158742422 @default.
- W3176233717 cites W2737313297 @default.
- W3176233717 cites W2896663787 @default.
- W3176233717 cites W2966081953 @default.
- W3176233717 cites W3135791089 @default.
- W3176233717 doi "https://doi.org/10.1109/lcsys.2021.3091917" @default.
- W3176233717 hasPublicationYear "2022" @default.
- W3176233717 type Work @default.
- W3176233717 sameAs 3176233717 @default.
- W3176233717 citedByCount "6" @default.
- W3176233717 countsByYear W31762337172022 @default.
- W3176233717 countsByYear W31762337172023 @default.
- W3176233717 crossrefType "journal-article" @default.
- W3176233717 hasAuthorship W3176233717A5006901857 @default.
- W3176233717 hasAuthorship W3176233717A5058849717 @default.
- W3176233717 hasAuthorship W3176233717A5062455237 @default.
- W3176233717 hasAuthorship W3176233717A5067046312 @default.
- W3176233717 hasConcept C107464732 @default.
- W3176233717 hasConcept C121047784 @default.
- W3176233717 hasConcept C121332964 @default.
- W3176233717 hasConcept C127413603 @default.
- W3176233717 hasConcept C1276947 @default.
- W3176233717 hasConcept C133731056 @default.
- W3176233717 hasConcept C13662910 @default.
- W3176233717 hasConcept C154945302 @default.
- W3176233717 hasConcept C15744967 @default.
- W3176233717 hasConcept C158622935 @default.
- W3176233717 hasConcept C167964875 @default.
- W3176233717 hasConcept C19417346 @default.
- W3176233717 hasConcept C203479927 @default.
- W3176233717 hasConcept C2775924081 @default.
- W3176233717 hasConcept C2775936607 @default.
- W3176233717 hasConcept C41008148 @default.
- W3176233717 hasConcept C47446073 @default.
- W3176233717 hasConcept C62520636 @default.
- W3176233717 hasConcept C6557445 @default.
- W3176233717 hasConcept C72218879 @default.
- W3176233717 hasConcept C86803240 @default.
- W3176233717 hasConceptScore W3176233717C107464732 @default.
- W3176233717 hasConceptScore W3176233717C121047784 @default.
- W3176233717 hasConceptScore W3176233717C121332964 @default.
- W3176233717 hasConceptScore W3176233717C127413603 @default.
- W3176233717 hasConceptScore W3176233717C1276947 @default.
- W3176233717 hasConceptScore W3176233717C133731056 @default.
- W3176233717 hasConceptScore W3176233717C13662910 @default.
- W3176233717 hasConceptScore W3176233717C154945302 @default.
- W3176233717 hasConceptScore W3176233717C15744967 @default.
- W3176233717 hasConceptScore W3176233717C158622935 @default.
- W3176233717 hasConceptScore W3176233717C167964875 @default.
- W3176233717 hasConceptScore W3176233717C19417346 @default.
- W3176233717 hasConceptScore W3176233717C203479927 @default.
- W3176233717 hasConceptScore W3176233717C2775924081 @default.
- W3176233717 hasConceptScore W3176233717C2775936607 @default.
- W3176233717 hasConceptScore W3176233717C41008148 @default.
- W3176233717 hasConceptScore W3176233717C47446073 @default.
- W3176233717 hasConceptScore W3176233717C62520636 @default.
- W3176233717 hasConceptScore W3176233717C6557445 @default.
- W3176233717 hasConceptScore W3176233717C72218879 @default.
- W3176233717 hasConceptScore W3176233717C86803240 @default.
- W3176233717 hasFunder F4320306076 @default.
- W3176233717 hasLocation W31762337171 @default.
- W3176233717 hasOpenAccess W3176233717 @default.
- W3176233717 hasPrimaryLocation W31762337171 @default.
- W3176233717 hasRelatedWork W1503747118 @default.
- W3176233717 hasRelatedWork W1823313497 @default.
- W3176233717 hasRelatedWork W1967964192 @default.
- W3176233717 hasRelatedWork W1998414594 @default.
- W3176233717 hasRelatedWork W2028651115 @default.
- W3176233717 hasRelatedWork W2362216924 @default.
- W3176233717 hasRelatedWork W2365785480 @default.
- W3176233717 hasRelatedWork W2393509435 @default.
- W3176233717 hasRelatedWork W2558111952 @default.
- W3176233717 hasRelatedWork W2792333933 @default.
- W3176233717 hasVolume "6" @default.
- W3176233717 isParatext "false" @default.
- W3176233717 isRetracted "false" @default.
- W3176233717 magId "3176233717" @default.
- W3176233717 workType "article" @default.