On orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model

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.

Source: arXiv:2606.07449v1 - http://arxiv.org/abs/2606.07449v1 PDF: https://arxiv.org/pdf/2606.07449v1 Original Link: http://arxiv.org/abs/2606.07449v1