info:eu-repo/semantics/article
Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
Fecha
2020-08Registro en:
Rodriguez Aguilar, Leandro Pedro Faustino; Serrano, Mario Emanuel; Sanchez, Mabel Cristina; Scaglia, Gustavo Juan Eduardo; Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2020; 8-2020; 1-8
1563-5147
1024-123X
CONICET Digital
CONICET
Autor
Rodriguez Aguilar, Leandro Pedro Faustino
Serrano, Mario Emanuel
Sanchez, Mabel Cristina
Scaglia, Gustavo Juan Eduardo
Resumen
The development of controllers for underactuated systems with nonholonomic constraints has been a topic of significant interest for many researchers in recent years. These systems are hard to control because their linearization transform them into uncontrollable systems. The proposed approaches involve the use of a permanent excitation in the reference trajectory; coordinate transformation; discontinuities; or complex calculations. This paper proposes the design of the controller of the second-order chained form system for trajectory tracking by using a simpler approach based on linear algebra. Up to the present time, no controllers based on this approach have been designed for that system. The control problem is solved by setting two of the three systems variables as a reference, while the remaining variable is calculated imposing the condition that the equations system has an exact solution to ensure that tracking errors go to zero. The stability of the proposed controller is theoretically demonstrated, and simulations results show a suitable control system performance. Also, no coordinate transformation is necessary.