The Domain of Attraction of the Desired Path in Vector-Field-Guided Path Following

Weijia Yao; Bohuan Lin; Brian D.O. Anderson; Ming Cao

doi:10.1109/TAC.2023.3239431

The Domain of Attraction of the Desired Path in Vector-Field-Guided Path Following

Weijia Yao^*
, Bohuan Lin
, Brian D.O. Anderson
, Ming Cao

^*Corresponding author for this work

Hunan University
University of Groningen
Australian National University

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

Abstract

—In the vector-field-guided path-following problem, a sufficiently smooth vector field is designed such that its integral curves converge to and move along a 1-D geometric desired path. The existence of singular points where the vector field vanishes creates a topological obstruction to global convergence to the desired path and some associated topological analysis has been conducted in our previous work.

Original language	English
Pages (from-to)	6812-6819
Number of pages	8
Journal	IEEE Transactions on Automatic Control
Volume	68
Issue number	11
DOIs	https://doi.org/10.1109/TAC.2023.3239431
Publication status	Published - 1 Nov 2023
Externally published	Yes

Keywords

Domain of attraction, nonlinear systems

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10.1109/TAC.2023.3239431

Cite this

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title = "The Domain of Attraction of the Desired Path in Vector-Field-Guided Path Following",

abstract = "—In the vector-field-guided path-following problem, a sufficiently smooth vector field is designed such that its integral curves converge to and move along a 1-D geometric desired path. The existence of singular points where the vector field vanishes creates a topological obstruction to global convergence to the desired path and some associated topological analysis has been conducted in our previous work.",

keywords = "Domain of attraction, nonlinear systems",

author = "Weijia Yao and Bohuan Lin and Anderson, \{Brian D.O.\} and Ming Cao",

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year = "2023",

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AU - Yao, Weijia

AU - Lin, Bohuan

AU - Anderson, Brian D.O.

AU - Cao, Ming

PY - 2023/11/1

Y1 - 2023/11/1

N2 - —In the vector-field-guided path-following problem, a sufficiently smooth vector field is designed such that its integral curves converge to and move along a 1-D geometric desired path. The existence of singular points where the vector field vanishes creates a topological obstruction to global convergence to the desired path and some associated topological analysis has been conducted in our previous work.

AB - —In the vector-field-guided path-following problem, a sufficiently smooth vector field is designed such that its integral curves converge to and move along a 1-D geometric desired path. The existence of singular points where the vector field vanishes creates a topological obstruction to global convergence to the desired path and some associated topological analysis has been conducted in our previous work.

KW - Domain of attraction, nonlinear systems

UR - https://www.scopus.com/pages/publications/85147313058

U2 - 10.1109/TAC.2023.3239431

DO - 10.1109/TAC.2023.3239431

M3 - Article

AN - SCOPUS:85147313058

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JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 11

ER -

The Domain of Attraction of the Desired Path in Vector-Field-Guided Path Following

Abstract

Keywords

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