Displaying similar documents to “Invariant tracking”

Two observer-based tracking algorithms for a unicycle mobile robot

Janusz Jakubiak, Erjen Lefeber, Krzysztof Tchoń, Henk Nijmeijer (2002)

International Journal of Applied Mathematics and Computer Science

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A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.

Modeling and control of a 4-wheel skid-steering mobile robot

Krzysztof Kozłowski, Dariusz Pazderski (2004)

International Journal of Applied Mathematics and Computer Science

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A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm,...

On harmonic disturbance rejection of an undamped Euler-Bernoulli beam with rigid tip body

Bao-Zhu Guo, Qiong Zhang (2004)

ESAIM: Control, Optimisation and Calculus of Variations

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A hybrid flexible beam equation with harmonic disturbance at the end where a rigid tip body is attached is considered. A simple motor torque feedback control is designed for which only the measured time-dependent angle of rotation and its velocity are utilized. It is shown that this control can impel the amplitude of the attached rigid tip body tending to zero as time goes to infinity.

Disturbance decoupling of nonlinear MISO systems by static measurement feedback

Richard Pothin, Claude H. Moog, Xiao Hua Xia (2002)

Kybernetika

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This paper highlights the role of the rank of a differential one-form in the solution of such nonlinear control problems via measurement feedback as disturbance decoupling problem of multi-input single output (MISO) systems. For the later problem, some necessary conditions and sufficient conditions are given.

A comparison of two FEM-based methods for the solution of the nonlinear output regulation problem

Branislav Rehák, Sergej Čelikovský, Javier Ruiz, Jorge Orozco-Mora (2009)

Kybernetika

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The regulator equation is the fundamental equation whose solution must be found in order to solve the output regulation problem. It is a system of first-order partial differential equations (PDE) combined with an algebraic equation. The classical approach to its solution is to use the Taylor series with undetermined coefficients. In this contribution, another path is followed: the equation is solved using the finite-element method which is, nevertheless, suitable to solve PDE part only....