| Full text | |
| Author(s): |
Geromel, Jose C.
;
Celeste, Carlos E., Jr.
Total Authors: 2
|
| Document type: | Journal article |
| Source: | International Journal of Control; v. N/A, p. 9-pg., 2022-07-02. |
| Abstract | |
This paper presents a general procedure for state feedback trajectory tracking control design for a class of nonlinear system that combines smoothness, robustness and convergence time assessment and reduction to a prescribed invariant residual set. In particular, it is well adapted to deal with the trajectory tracking control of a half-car kinematic model since only one simple design condition provides the control law that imposes to the closed-loop system, asymptotic tracking of a given trajectory with a prescribed yaw angle orientation. Norm bounded additive matched disturbances are considered in order to establish a trade-off between robustness and speed of convergence. Two examples and a case study are presented and discussed in order to clearly illustrate and compare the theoretical results. (AU) | |
| FAPESP's process: | 20/07574-6 - Control with finite stabilization time |
| Grantee: | Carlos Eduardo Celeste Junior |
| Support Opportunities: | Scholarships in Brazil - Scientific Initiation |