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

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