scholarly journals Stabilizability and Motion Tracking Conditions for Mechanical Nonholonomic Control Systems

2007 ◽  
Vol 2007 ◽  
pp. 1-20 ◽  
Author(s):  
Elżbieta Jarzębowska
Keyword(s):  
Motion Tracking ◽  
Dynamic Control ◽  
Nonholonomic Constraints ◽  
Point Of View ◽  
State Feedback Control ◽  
Static State ◽  
Control Objective ◽  
Nonholonomic Control Systems ◽  
And Control ◽  
Static State Feedback

This paper addresses formulation of stabilizability and motion tracking conditions for mechanical systems from the point of view of constraints put on them. We present a new classification of constraints, which includes nonholonomic constraints that arise in both mechanics and control. Based on our classification we develop kinematic and dynamic control models of systems subjected to these constraints. We demonstrate that a property of being a “hard-to-control” nonholonomic system may not be related to the nature of the constraints. It may result from the formulation of control objectives for a system. We examine two control objectives which are stabilization to the target equilibrium by a continuous static state feedback control and motion tracking. Theory is illustrated with examples of control objective formulations for systems with constraints of various types.

Distributed Static State Feedback Control for DC Microgrids

2021 ◽  
pp. 306-314
Author(s):  
Sifeddine Benahmed ◽  
Pierre Riedinger ◽  
Serge Pierfederici
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
State Feedback Control ◽  
Static State ◽  
Dc Microgrids ◽  
Static State Feedback

Design of a Time-Varying Continuous Control to Solve the Potential Field Local Minima Problem

2011 ◽  
Vol 130-134 ◽  
pp. 2465-2469 ◽  
Author(s):  
Jian Yang ◽  
Mi Dong
Keyword(s):  
Potential Field ◽  
State Feedback Control ◽  
Continuous Control ◽  
Time Varying ◽  
Local Minima ◽  
Design Strategies ◽  
Field Methods ◽  
Static State ◽  
Global Goal ◽  
Static State Feedback

The subject of this paper is the local minima problem (LMP) inherent in potential field methods (PFMs). Firstly, the underlying theoretical basis of LMP is formulated and its theoretical difficulty of control design is analyzed. It is shown that there does not exist a static state feedback control to solve LMP. Then a time-varying continuous control law is proposed to tackle this problem. In particular, challenges of finding continuous control solutions of LMP are discussed and explicit design strategies are then proposed. Moreover, systematic rigorous Lyapunov proof is given to show both global goal convergence provided that the goal is globally reachable and obstacle avoidance of the proposed controls. Simulation results are provided to illustrate the validity and effectiveness.

Robust H∞ state-feedback control for path following of autonomous ground vehicle based on lateral velocity estimation

2019 ◽  
Vol 233 (9) ◽  
pp. 2343-2351
Author(s):  
Pengpeng Feng ◽  
Jianwu Zhang ◽  
Weimiao Yang
Keyword(s):  
State Feedback ◽  
Path Following ◽  
Velocity Estimation ◽  
State Feedback Control ◽  
Ground Vehicles ◽  
Lateral Velocity ◽  
Static State ◽  
Ground Vehicle ◽  
Lateral Disturbance ◽  
Static State Feedback

A robust [Formula: see text] observer-based static state-feedback controller is designed for the path following of autonomous ground vehicles in this paper. Considering the lateral velocity of vehicle is usually difficult to measure, an observer is designed to estimate the value of lateral velocity first. Then, a robust controller is proposed to cope with the modeling uncertainty and disturbance, such as the variation of road coefficient and lateral disturbance. Numerical simulations using a high-fidelity and full-vehicle model based on a CarSim–Simulink joint platform have verified the effectiveness of the proposed approach.

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