On orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model
This work provides theoretical conditions for stabilizing circular motions in a specific nonholonomic vehicle model, which is an incremental contribution for control theory researchers.
The paper addresses orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model, showing that the transverse linearization is unstable and not stabilizable by linear feedback. It provides explicit conditions under which a controller design based on transverse linearization remains applicable.
This paper addresses orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model within a transverse-linearization framework. We show that the corresponding transverse linearization is unstable and not stabilizable by linear state feedback. Therefore, the standard linearization-based approach to orbital stabilization cannot be applied directly. The main contribution is a set of explicit and verifiable conditions that characterize when a controller design based on transverse linearization remains applicable. These conditions rely on the specific structure of the dynamics in a neighborhood of the motion and on the use of non-standard transverse coordinates for controller design and analysis. Numerical simulations illustrate the proposed design procedure.