Robust Tracking Control for Underactuated Autonomous Vehicles Using Feedback Linearization

被引：0
|
作者：
Maithripala, D. H. S. [1 ]
Berg, J. M. [2 ]
机构：
[1] Univ Peradeniya, Dept Mech Engn, Fac Engn, Peradeniya, Sri Lanka
[2] Texas Tech Univ, Dept Engn Mech, Lubbock, TX 79409 USA
来源：
2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2014年
关键词：
MECHANICAL SYSTEMS; TRAJECTORY-TRACKING; LIE-GROUPS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
We present a feedback linearization control for almost global output-feedback tracking for a class of underactuated vehicles, with guaranteed stable zero dynamics and zero steady-state tracking error in the absence of uncertainties. We show that the control has significant robustness to parameter variations and unmodelled bounded forces and moments. The potential benefits of the approach are illustrated with simulations.
引用
收藏
页码：446 / 451
页数：6
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