Pith Number

pith:JFAIMLDR

pith:2026:JFAIMLDRWOZM3JLSPX3QN5JSZS

not attested not anchored not stored refs pending

On Feedback Speed Control for a Planar Tracking

Tengyue Liu, Udit Halder, Xincheng Li

Feedback speed control with constant bearing steering achieves asymptotic stability in planar leader-follower tracking when the leader's steering is known.

arxiv:2604.09795 v2 · 2026-04-10 · eess.SY · cs.RO · cs.SY

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Claims

C1strongest claim

We prove that the proposed control yields asymptotic stability of the closed-loop system when the steering of the leader is known. For the case when the leader's steering is unavailable to the follower, we show that the system is still input-to-state stable with respect to the leader's steering viewed as an input. Furthermore, we demonstrate that if the leader's steering is periodic, the follower will asymptotically converge to a periodic orbit with the same period.

C2weakest assumption

The agents are modeled as planar kinematic systems capable of perfect implementation of the constant bearing steering strategy, with the feedback law relying on accurate relative position and velocity measurements between leader and follower.

C3one line summary

A feedback speed control law with constant bearing steering achieves asymptotic stability when leader steering is known and input-to-state stability otherwise in planar leader-follower tracking.

Receipt and verification

First computed	2026-06-19T16:12:20.177391Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4940862c71b3b2cda5727df706f532ccbade4fe22292e5d5b2d5fbe0b2fa122d

Aliases

arxiv: 2604.09795 · arxiv_version: 2604.09795v2 · doi: 10.48550/arxiv.2604.09795 · pith_short_12: JFAIMLDRWOZM · pith_short_16: JFAIMLDRWOZM3JLS · pith_short_8: JFAIMLDR

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/JFAIMLDRWOZM3JLSPX3QN5JSZS \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 4940862c71b3b2cda5727df706f532ccbade4fe22292e5d5b2d5fbe0b2fa122d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d251b176cd5fa0a5eb5109090c004795c58332fde6c07bb0c58d10d409e55d98",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-04-10T18:15:17Z",
    "title_canon_sha256": "d5b6c7ce1a4c040656992649411e182cb2fb2c37cee4db087ad9927cdf447b9c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.09795",
    "kind": "arxiv",
    "version": 2
  }
}