On The Design Of A Hybrid Feedback Control System For A Nonholonomic Car-Like Vehicle

This paper addresses the design of a hybrid feedback control system enabling a car-like, rectangular vehicle to perform a tight L-shaped turn maneuver. This case constitutes an effort towards the definition of a general purpose methodology for hybrid feedback control synthesis. The design effort encompasses the synthesis of a set of modalities and mechanisms to detect relevant events enabling the overall motion coordination so that a global goal is attempted. Simulations of the implemented controller have shown a strong robustness with respect to modeling uncertainty and execution errors. 1. Introduction The problem addressed in this paper consists in deriving a feedback control law for a rectangular car-like vehicle to perform a right turn in a rectangular L-shaped corridor which might require a turning radius smaller than that of the vehicle. This problem may be considered as an instance of the design of a feedback controller for an autonomous dynamic system. An integrated approach..