Preview based path-following in the presence of input constraints

Preview based path-following in the presence of input constraints

We develop an algorithm for the design of path-following feedback laws for a feedback linearizable nonlinear systems with input constraints. Our main contribution is a preview based feedback law for the path parameter, which reduces the time necessary to traverse a given interval of the path. In con...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Subbotin, M.V., Dacic, D.B., Smith, R.S.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Algorithm design and analysis
Design methodology
Feedback
Manipulators
Marine vehicles
Nonlinear systems
Robots
Torque
Tracking
Vehicle dynamics
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:We develop an algorithm for the design of path-following feedback laws for a feedback linearizable nonlinear systems with input constraints. Our main contribution is a preview based feedback law for the path parameter, which reduces the time necessary to traverse a given interval of the path. In contrast to the time-optimal solution, we require only limited knowledge of the path in the future. We illustrate the proposed algorithm on two examples and compare its performance with the time-optimal solution
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2006.1657435