On orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model
Authors: Artem Angelchev-Shiryaev, Pavel E. Aleshin, Anton S. Shiriaev, Pavel A. Shamanaev, Leonid B. Freidovich
Organizations: Department of Industrial and Mechanical Sciences, Lund University, Lund, Sweden · Department of Information Technologies, Sirius University, Sirius, Russia · Department of Engineering Cybernetics, NTNU, Trondheim, Norway · Department of Applied Physics and Electronics, Umeå University, Umeå, Sweden
This paper addresses orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model within a transverse-linearization framework. We show that the corresponding transverse linearization is unstable and not stabilizable by linear state feedback. Therefore, the standard linearization-based approach to orbital stabilization cannot be applied directly. The main contribution is a set of explicit and verifiable conditions that characterize when a controller design based on transverse linearization remains applicable. These conditions rely on the specific structure of the dynamics in a neighborhood of the motion and on the use of non-standard transverse coordinates for controller design and analysis. Numerical simulations illustrate the proposed design procedure.