Trajectory Tracking Controller Design for A Tricycle Robot Using Piecewise Multi-Linear Models
نویسندگان
چکیده
This paper deals a tracking trajectory controller design of a tricycle robot as a non-holonomic system with a piecewise multi-linear (PML) model. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PML control system. We also apply a method for a tracking control based on PML models to the tricycle robot. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PML model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.
منابع مشابه
Trajectory Tracking Controls for Non-holonomic Systems Using Dynamic Feedback Linearization Based on Piecewise Multi-Linear Models
This paper proposes a trajectory tracking control for non-holonomic systems using dynamic feedback linearization based on piecewise multi-linear (PML) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PML control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the ...
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