Zero-Error Tracking for Autonomous Vehicles Through Epsilon-Trajectory Generation

This letter presents a control method for vehicles with first-order nonholonomic constraints that guarantees asymptotic convergence to time-indexed trajectory. To overcome the constraint, fixed point in front of vehicle can be controlled track desired trajectory, albeit steady-state error. eliminate steady state error, sufficiently smooth trajectory is reformulated new reference such that, when tracking asymptotically converges original The results are evaluated view effects errors due estimation and initial conditions.