Proceedings ArticleDOI
Trajectory tracking for non-holonomic cars: A linear approach to controlled leader-follower formation
Hebertt Sira-Ramírez,Rafael Castro-Linares +1 more
- pp 546-551
TLDR
This article describes the design of a linear robust dynamic output feedback control scheme for output reference trajectory tracking tasks in a leader-follower non-holonomic car formation problem using the cars' kinematic models.Abstract:
This article describes the design of a linear robust dynamic output feedback control scheme for output reference trajectory tracking tasks in a leader-follower non-holonomic car formation problem using the cars' kinematic models. A simplification is proposed on the follower's exact open loop position tracking error dynamics, obtained by flatness considerations, resulting in a system described by an additively disturbed set of two, second order, integrators with non-linear velocity dependent control input matrix gain. The unknown disturbances are modeled as absolutely bounded, additive, unknown time signals which may be locally approximated by arbitrary elements of, a, fixed, sufficiently high degree family of Taylor polynomials. Linear Luenberger observers may be readily designed, which include the, self updating, internal model of the unknown disturbance input vector components as generic time-polynomial models. The proposed Generalized Proportional Integral (GPI) observers, which are the dual counterpart of GPI controllers ([11]), achieve a, simultaneous, disturbance estimation and tracking error phase variables estimation. This, on-line, gathered information is used to advantage on the follower's linear output feedback controller thus allowing for a simple, yet efficient, disturbance and control input gain cancelation effort. The results are applied to control the fixed time delayed trajectory tracking of the leader path on the part of the follower. Simulations are presented which illustrate the robustness of the proposed approach.read more
Citations
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Journal ArticleDOI
A novel adaptive-gain supertwisting sliding mode controller: Methodology and application
TL;DR: A novel super-twisting adaptive sliding mode control law is proposed for the control of an electropneumatic actuator using dynamically adapted control gains that ensure the establishment, in a finite time, of a real second order sliding mode.
Journal ArticleDOI
Brief paper: Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph
Jie Mei,Wei Ren,Guangfu Ma +2 more
TL;DR: A distributed adaptive control algorithm combined with distributed sliding-mode estimators is proposed for networked Lagrangian systems with multiple dynamic leaders in the presence of parametric uncertainties under a directed graph that characterizes the interaction among the leaders and the followers.
Journal ArticleDOI
Optimal design of a novel tuned mass-damper–inerter (TMDI) passive vibration control configuration for stochastically support-excited structural systems
TL;DR: In this article, a tuned mass-damper-inerter (TMDI) was proposed to suppress the oscillatory motion of stochastically support excited mechanical cascaded (chain-like) systems.
Journal ArticleDOI
Systematic and effective design of nonlinear feedback controllers via the state-dependent Riccati equation (SDRE) method
TL;DR: The capabilities and design flexibility of SDRE control are emphasized, addressing the issues on systematic selection of the design matrices and going into detail concerning the art of systematically carrying out an effective SDRE design for systems that both do and do not conform to the basic structure and conditions required by the method.
Journal ArticleDOI
Truncated predictor feedback for linear systems with long time-varying input delays
TL;DR: A finite dimensional static time-varying linear state feedback controller is obtained by truncating the predictor based controller and by adopting the parametric Lyapunov equation based controller design approach.
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Behavior-based formation control for multirobot teams
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