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Entree


Trajectory tracking control with convergence time assessment

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Autor(es):
Geromel, Jose C. ; Celeste, Carlos E., Jr.
Número total de Autores: 2
Tipo de documento: Artigo Científico
Fonte: International Journal of Control; v. N/A, p. 9-pg., 2022-07-02.
Resumo

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)

Processo FAPESP: 20/07574-6 - Controle com tempo de estabilização finito
Beneficiário:Carlos Eduardo Celeste Junior
Modalidade de apoio: Bolsas no Brasil - Iniciação Científica