| Texto completo | |
| 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 |