摘要：AbstractIn this study, we evaluate a circular path-following control for a vehicle. For a vehicle to follow a circular path, rotational and expansionary coordinate transformations using the time-state control form of the vehicle system is useful. However, an undershoot response occurs in the initial response for some initial conditions. In this study, we derive some conditions with the occurrence of undershoot in the initial response and clarify the conditions for avoiding it. The undershoot analysis of the circular path-following response is performed via numerical simulations using rotational and expansionary coordinate transformations for a vehicle model.
关键词：KeywordsUndershootAutonomous vehiclesPath-following controlTime-state control formNonlinear models
