کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10399018 | 890423 | 2005 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A path following problem for a class of non-holonomic control systems with noise
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: A path following problem for a class of non-holonomic control systems with noise A path following problem for a class of non-holonomic control systems with noise](/preview/png/10399018.png)
چکیده انگلیسی
This paper deals with a path following problem for a system affected by noise and proposes a dynamic inversion-based controller that makes use of the error between the real position and a suitable path location. An estimate of such error is given in terms of the noise bounds, showing the practical stability of the closed loop system. The results presented in this article apply to a subclass of Chaplygin control systems which includes several common mechanical systems. As an example the developed strategy has been applied to maneuver a kinematic model of a system moving in a 3-dimensional space in such a way that a point located at a positive distance from its center of geometry is driven towards a given path.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 41, Issue 6, June 2005, Pages 1009-1016
Journal: Automatica - Volume 41, Issue 6, June 2005, Pages 1009-1016
نویسندگان
Luca Consolini, Mario Tosques,