Linear Algebra Based Control: Application to a second order chained form system

Control of underactuated systems with non-holonomic constraints has been an issue of interest in recent years. These systems are hard to control because their linearization makes them uncontrollable and current approaches generally involve complex calculations. In this manuscript, a controller for t...

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Bibliographic Details
Published in:	Revista IEEE América Latina Vol. 19; no. 9; pp. 1435 - 1442
Main Authors:	Rodriguez Aguilar, Leandro Pedro Faustino, Fernandez Puchol, Maria Cecilia, Sanchez, Mabel Cristina, Scaglia, Gustavo Javier
Format:	Journal Article
Language:	English
Published:	Los Alamitos IEEE 01-09-2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Control stability Control systems Control theory Controllers Exact solutions IEEE transactions Iron Linear algebra Mathematical model non-holonomic system nonlienar tracking control positioning Robots Surges Tracking control Trajectory control
Online Access:	Get full text
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Summary:	Control of underactuated systems with non-holonomic constraints has been an issue of interest in recent years. These systems are hard to control because their linearization makes them uncontrollable and current approaches generally involve complex calculations. In this manuscript, a controller for trajectory tracking and positioning for a second-order chained form system using a simple approach based on linear algebra is proposed. The control law is formulated by setting two of the six variables trajectories, while the other four are calculated assuming the equations system has an exact solution, and ensuring the error tends to zero. The stability of the proposed control system is demonstrated through the Khalil Lemma, and simulations show the performance of the controller.
ISSN:	1548-0992 1548-0992
DOI:	10.1109/TLA.2021.9468435