An Internal Model Control System for Clothoid Tracking
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.
Authors
- Nicola Mimmo (ORCID: https://orcid.org/0000-0002-8926-3733)
- Marco Frego
Institutions
- Free University of Bozen-Bolzano (IT)
- Laboratori Guglielmo Marconi (Italy) (IT)
Publication Details
- Published
- 2025-12-09
- DOI
- https://doi.org/10.1109/cdc57313.2025.11312587
- Primary Topic
- Control and Dynamics of Mobile Robots
- Type
- article
- Field-Weighted Citation Impact
- 0.00