CLOSED-LOOP STEERING OF UNICYCLE-LIKE VEHICLES VIA LYAPUNOV TECHNIQUES

With a special choice for the system state equations, the use of the s implest quadratic form as candidate Lyapunov function directly leads t o the definition of very simple, smooth and effective closed loop cont rol laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation. The authors provide simulation exampl es to show the effectiveness and, in a sense, the ''natural behavior'' of the obtained closed loop motions (whenever compared with our every day driving experience).