Stability and Robustness of Optimal Synthesis for Route Tracking by Dubins' Vehicles

Abstract

We consider the properties of stability and robustness of an optimal control synthesis obtained for the problem of route tracking by a kinematic vehicle moving forward only with a lower bounded turning radius. This model, sometimes referred to as “Dubins' vehicle”, is relevant to the kinematics of road vehicles as well as aircraft cruising at constant altitude, or sea vessels