This paper deals with clothoid tracking via the Internal Model Principle (IMP). The ability to track these curves impacts efficiency, e.g., traffic flow, number of worked pieces in CNC machines, etc. To solve the clothoid trajectory tracking problem, this paper presents a new design method for IMP-based controllers. The theoretical arguments are corroborated via the simulation of a robotic walker.
Mimmo, N. (2025). An Internal Model Control System for Clothoid Tracking [10.1109/CDC57313.2025.11312587].
An Internal Model Control System for Clothoid Tracking
Mimmo Nicola
2025
Abstract
This paper deals with clothoid tracking via the Internal Model Principle (IMP). The ability to track these curves impacts efficiency, e.g., traffic flow, number of worked pieces in CNC machines, etc. To solve the clothoid trajectory tracking problem, this paper presents a new design method for IMP-based controllers. The theoretical arguments are corroborated via the simulation of a robotic walker.File in questo prodotto:
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