Event-Based Model Predictive Tracking Control of Nonholonomic Systems With Coupled Input Constraint and Bounded Disturbances

2018 ◽  
Vol 63 (2) ◽  
pp. 608-615 ◽  
Author(s):  
Zhongqi Sun ◽  
Li Dai ◽  
Yuanqing Xia ◽  
Kun Liu
Keyword(s):  
Tracking Control ◽  
Nonholonomic Systems ◽  
Input Constraint ◽  
Bounded Disturbances ◽  
Event Based

Tracking Control of Hypersonic Vehicle Considering Input Constraint

2017 ◽  
Vol 30 (6) ◽  
pp. 04017073 ◽  
Author(s):  
Jing-guang Sun ◽  
Shen-min Song ◽  
Guan-qun Wu
Keyword(s):  
Tracking Control ◽  
Hypersonic Vehicle ◽  
Input Constraint

Motion Tracking Control Design for Wheeled Mobile Systems

2008 ◽  
Author(s):  
Elz˙bieta Jarze˛bowska
Keyword(s):  
Tracking Control ◽  
Motion Tracking ◽  
Controller Design ◽  
Control Strategies ◽  
Equations Of Motion ◽  
Nonholonomic Systems ◽  
Point Of View ◽  
Mobile Systems ◽  
Task Constraints ◽  
Nonlinear Control Theory

The paper presents a model-based tracking control strategy design for wheeled mobile systems (WMS). The strategy enables tracking a variety of WMS motions that come from task specifications and control or design requirements put on them. From the point of view of mechanics and derivation of equations of motion, the WMS belongs to one class of first order nonholonomic systems. From the perspective of nonlinear control theory, the WMS differ and may not be approached by the same control strategies and algorithms, e.g. some of them may be controlled at the kinematic level and the other at the dynamic level only. The strategy we propose is based on a modeling control oriented framework. It serves a unification of the WMS modeling and a subsequent controller design with no regard whether a specific WMS is fully actuated, underactuated, or constrained by the task constraints.

Motion Planning of Nonholonomic Systems with Tracking Control Lyapunov Function

2010 ◽  
Vol 44-47 ◽  
pp. 3992-3996
Author(s):  
Yan Peng ◽  
Mei Liu ◽  
Zhi Jie Tang ◽  
Shao Rong Xie ◽  
Jun Luo
Keyword(s):  
Lyapunov Function ◽  
Motion Planning ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Nonholonomic Constraint ◽  
Trajectory Generation ◽  
Nonholonomic Systems ◽  
Control Lyapunov Function ◽  
Dynamical Degrees

A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function (TCLF) is proposed to guarantee that the trajectory generation is convergent and executable under nonholonomic constraint, and the simulation result conducted on surface vehicle shows its effectiveness.

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