Trajectory tracking control for an AutoNOMO vehicle using a decoupling approach

Adonai Rosas-Vilchis, Alejandra Ferreira De Loza, Luis T. Aguilar, Jerome Cieslak, David Henry, Oscar Montiel-Ross

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2020 28th Mediterranean Conference on Control and Automation, MED 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages375-380
Number of pages6
ISBN (Electronic)9781728157429
DOIs
StatePublished - Sep 2020
Event28th Mediterranean Conference on Control and Automation, MED 2020 - Saint-Raphael, France
Duration: 15 Sep 202018 Sep 2020

Publication series

Name2020 28th Mediterranean Conference on Control and Automation, MED 2020

Conference

Conference28th Mediterranean Conference on Control and Automation, MED 2020
Country/TerritoryFrance
CitySaint-Raphael
Period15/09/2018/09/20

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