naa a22 4500 510810055 CHVBK 20180411083438.0 cr unu---uuuuu 180411e20130901xx s 000 0 eng 10.1134/S1064230713050109 doi (NATIONALLICENCE)springer-10.1134/S1064230713050109 Pesterev A. Institute of Control Sciences, Russian Academy of Sciences, ul. Profsoyuznaya 65, 117997, Moscow, Russia aut A linearizing feedback for stabilizing a car-like robot following a curvilinear path [Elektronische Daten] [A. Pesterev] The path following problem for a car-like robot is considered. The control goal is to bring the robot to a pre-assigned curvilinear path and to stabilize its motion along the path. A new canonical change of variables is suggested. It reduces the problem of stabilizing robot's motion to that of stability of the zero solution of the transformed system in the form that admits feedback linearization. A new control law is synthesized that ensures linearity of the closed-loop system and stabilizes robot's motion along a given target path if the initial conditions belong to a known region. Comparison of the new control law with two earlier obtained linearizing feedbacks known from the literature demonstrates its unquestionable advantages. Pleiades Publishing, Ltd., 2013 Journal of Computer and Systems Sciences International Springer US; http://www.springer-ny.com 52/5(2013-09-01), 819-830 1064-2307 52:5<819 2013 52 11488 https://doi.org/10.1134/S1064230713050109 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1134/S1064230713050109 text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Pesterev A. Institute of Control Sciences, Russian Academy of Sciences, ul. Profsoyuznaya 65, 117997, Moscow, Russia aut NATIONALLICENCE 773 0- Journal of Computer and Systems Sciences International Springer US; http://www.springer-ny.com 52/5(2013-09-01), 819-830 1064-2307 52:5<819 2013 52 11488 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer