A feedback control framework for safe and economically-optimal operation of nonlinear processes

AIChE Journal ◽  
2016 ◽  
Vol 62 (7) ◽  
pp. 2391-2409 ◽  
Author(s):  
Fahad Albalawi ◽  
Anas Alanqar ◽  
Helen Durand ◽  
Panagiotis D. Christofides
Keyword(s):  
Feedback Control ◽  
Optimal Operation ◽  
Nonlinear Processes ◽  
Control Framework

Feedback control framework for car-like robots using the unicycle controllers

Robotica ◽  
2011 ◽  
Vol 30 (4) ◽  
pp. 517-535 ◽  
Author(s):  
Maciej Michałek ◽  
Krzysztof Kozłowski
Keyword(s):  
Stability Analysis ◽  
Feedback Control ◽  
Closed Loop ◽  
Path Following ◽  
Rear Wheel ◽  
Front Wheel ◽  
Steering Angle ◽  
Formal Stability ◽  
Control Framework ◽  
Error Dynamics

SUMMARYThe paper introduces a novel general feedback control framework, which allows applying the motion controllers originally dedicated for the unicycle model to the motion task realization for the car-like kinematics. The concept is formulated for two practically meaningful motorizations: with a front-wheel driven and with a rear-wheel driven. All the three possible steering angle domains for car-like robots—limited and unlimited ones—are treated. Description of the method is complemented by the formal stability analysis of the closed-loop error dynamics. The effectiveness of the method and its limitations have been illustrated by numerous simulations conducted for the three main control tasks, namely, for trajectory tracking, path following, and set-point regulation.

scholarly journals Feedforward/feedback control of multivariable nonlinear processes

AIChE Journal ◽  
1990 ◽  
Vol 36 (10) ◽  
pp. 1471-1484 ◽  
Author(s):  
Prodromos Daoutidis ◽  
Masoud Soroush ◽  
Costas Kravaris
Keyword(s):  
Feedback Control ◽  
Nonlinear Processes
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