用积分前馈法设计轮式机器人控制，实现平滑停车。
Integrator Forwading Design for Unicycles with Constant and Actuated Velocity in Polar Coordinates
- 采用积分前馈构造新型平滑转向控制律。
- 在恒定速度下实现与后推法相同的即时停车效果。
- 揭示了后推法与前馈法在车辆控制中的深层联系。
在前序论文中，我们提出了基于极坐标系的自行车模型稳定化模块化框架，通过后推法获得平滑转向律。令人意外的是，同一问题同样适用于积分前馈方法。本文利用该特性，结合控制李雅普诺夫函数（CLFs）构建了新的平滑转向律，拓展了逆最优控制设计中可用的CLF集合。在前向速度恒定的情形（即杜宾斯小车）下，后推法可实现有限时间（死区）停车，本文证明积分前馈亦能产生完全相同的一类解。这揭示了后推法与前馈法在解决自行车及杜宾斯小车泊车问题中的根本关联。
原文摘要 · Abstract (English)
In a companion paper, we present a modular framework for unicycle stabilization in polar coordinates that provides smooth steering laws through backstepping. Surprisingly, the same problem also allows the application of integrator forwarding. In this work, we leverage this feature and construct new smooth steering laws together with control Lyapunov functions (CLFs), expanding the set of CLFs available for inverse optimal control design. In the case of constant forward velocity (Dubins car), backstepping produces finite-time (deadbeat) parking, and we show that integrator forwarding yields the very same class of solutions. This reveals a fundamental connection between backstepping and forwarding in addressing both the unicycle and, the Dubins car parking problems.
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