Vizi, Máté B. and Orosz, Gábor and Takács, Dénes and Stépán, Gábor (2025) Lateral and Longitudinal Control of an Autonomous Unicycle. In: 2025 American Control Conference (ACC). American Control Conference . IEEE, Piscataway (NJ), pp. 4224-4229. ISBN 9798331569372
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Abstract
Trajectory tracking with an autonomous unicycle is considered in three-dimensional space. It is shown that with the appropriate choice of pseudo-velocities the lateral and longitudinal dynamics and control can be decoupled at the linear level. Linear state feedback controllers are designed separately for lateral and longitudinal subsystems and these controllers are tested simultaneously for the nonlinear model via numerical simulations.
| Item Type: | Book Section |
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| Additional Information: | The research reported in this paper was supported by the Hungarian National Science Foundation under Grant Nos. NKFI-K-132477 and NKFIKKP-133846, and by the HUN-REN Hungarian Research Network. The research of DT was supported by a Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences. GO acknowledges the support of the Hungarian Academy of Sciences within the Distinguished Guest Fellowship Programme and the support of the Fulbright Foundation. |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TA Engineering (General). Civil engineering (General) / általános mérnöki tudományok T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 19 Sep 2025 10:13 |
| Last Modified: | 19 Sep 2025 10:13 |
| URI: | https://real.mtak.hu/id/eprint/224617 |
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