TY - GEN
T1 - Trajectory tracking control for an AutoNOMO vehicle using a decoupling approach
AU - Rosas-Vilchis, Adonai
AU - De Loza, Alejandra Ferreira
AU - Aguilar, Luis T.
AU - Cieslak, Jerome
AU - Henry, David
AU - Montiel-Ross, Oscar
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9
Y1 - 2020/9
N2 - The paper deals with the tracking problem of an AutoNOMO vehicle. The problem statement is similar to the tracking control of a nonholonomic car-like robot. To this aim, the kinematic model of the vehicle is considered. Thus, a local transformation takes the system into a chained-form. Later, the error tracking dynamics is transformed into a triangular-like form. In this way, the system may be divided into two interconnected sub-systems. A homogeneous finite-time controller is proposed to stabilize the Cartesian coordinate x. In consequence, the effects x are decoupled from the remained dynamics. Then, a recursive backstepping-like methodology stabilizes the remaining coordinates. The stability of the closed-loop system is analyzed using the Lyapunov theory. Simulations and experiments illustrate the feasibility of the approach.
AB - The paper deals with the tracking problem of an AutoNOMO vehicle. The problem statement is similar to the tracking control of a nonholonomic car-like robot. To this aim, the kinematic model of the vehicle is considered. Thus, a local transformation takes the system into a chained-form. Later, the error tracking dynamics is transformed into a triangular-like form. In this way, the system may be divided into two interconnected sub-systems. A homogeneous finite-time controller is proposed to stabilize the Cartesian coordinate x. In consequence, the effects x are decoupled from the remained dynamics. Then, a recursive backstepping-like methodology stabilizes the remaining coordinates. The stability of the closed-loop system is analyzed using the Lyapunov theory. Simulations and experiments illustrate the feasibility of the approach.
UR - http://www.scopus.com/inward/record.url?scp=85092175047&partnerID=8YFLogxK
U2 - 10.1109/MED48518.2020.9183255
DO - 10.1109/MED48518.2020.9183255
M3 - Contribución a la conferencia
AN - SCOPUS:85092175047
T3 - 2020 28th Mediterranean Conference on Control and Automation, MED 2020
SP - 375
EP - 380
BT - 2020 28th Mediterranean Conference on Control and Automation, MED 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th Mediterranean Conference on Control and Automation, MED 2020
Y2 - 15 September 2020 through 18 September 2020
ER -