摘要：Abstract: Path-following and trajectory-tracking problems are important control problems. For the path-following problem the paper proposes a locally semiconcave path-following control Lyapunov function (PF-CLF). Moreover, the paper proposes the minimum projection method for PF-CLF design by using tracking control Lyapunov function. Furthermore, a static feedback controller for a path-following problem is proposed. Finally, we confirm the effectiveness of the proposed method by computer simulation.
