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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2020 28th Mediterranean Conference on Control and Automation, MED 2020
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas375-380
Número de páginas6
ISBN (versión digital)9781728157429
DOI
EstadoPublicada - sep 2020
Evento28th Mediterranean Conference on Control and Automation, MED 2020 - Saint-Raphael, Francia
Duración: 15 sep 202018 sep 2020

Serie de la publicación

Nombre2020 28th Mediterranean Conference on Control and Automation, MED 2020

Conferencia

Conferencia28th Mediterranean Conference on Control and Automation, MED 2020
País/TerritorioFrancia
CiudadSaint-Raphael
Período15/09/2018/09/20

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