Tracking and maneuver regulation control for nonlinear nonminimum phase systems: application to flight control

Al-Hiddabi, S.A.; McClamroch, N. Harris

doi:10.1109/tcst.2002.804120

Cited by 166 publications

(76 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this section, we have therefore shown close links between the original problems of determining and to those of finding and as defined in (10) and (11). In particular, if we are not restricted to monotonic , or in the case of periodic reference trajectories, Propositions 4 and 5 show that these alternate problems are completely equivalent.…”

Section: Simplifying the Problemmentioning

confidence: 54%

See 1 more Smart Citation

On Limitations to the Achievable Path Following Performance for Linear Multivariable Plants

Miller

Middleton

2008

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

Abstract-In this paper, we consider a problem termed "path following". This differs from the common problem of reference tracking, in that here we can adjust the speed at which we traverse the reference trajectory. We are interested in ascertaining the degree to which we can track a given trajectory, and in characterizing the class of paths for which we can generate an appropriate temporal specification so that the path can be tracked arbitrarily well in an 2 sense. We give various bounds on the achievable performance, as well as tight results in special cases. In addition, we give a numerical procedure based on convex optimization for computing the achievable performance. The results demonstrate that there are situations where arbitrarily good 2 performance may be achieved even though the origin is not in the convex hull of the positive limit set of the path to be followed.Index Terms-2 performance limitations, nonminimum phase systems, path following, tracking.

show abstract

Section: Simplifying the Problemmentioning

confidence: 54%

“…This has lead to an alternate problem formulation called "path following," e.g. see [1], [7], [11], [12].…”

Section: Introductionmentioning

confidence: 99%

On Limitations to the Achievable Path Following Performance for Linear Multivariable Plants

Miller

Middleton

2008

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

show abstract

“…Typically the path following controller eliminates the aggressiveness of the trajectory tracking controller by converging to the path smoothly and control inputs are less likely forced to saturation [2].…”

Section: Introductionmentioning

confidence: 99%

Coordinated Path Following for Mobile Robots Using a Virtual Structure Strategy with Model Predictive Control

Kanjanawanishkul

2014

Automatika

View full text Add to dashboard Cite

In this paper, we propose a novel coordinated path following controller based on model predictive control (MPC) for mobile robots. The strategy is based on a virtual structure approach where the entire formation is considered as a rigid body and the control laws for a virtual leader vehicle and for actual follower robots are optimized by considering the dynamics of the virtual structure and the desired motion of each vehicle. Besides, we also fulfill time convergence for trajectory tracking by integrating an additional penalty term into our model predictive control scheme. However, the major concern in the use of model predictive control is whether such an open-loop control scheme can guarantee system stability. In this case, we apply the idea of a contractive constraint to guarantee the stability of our MPC framework. Although our approach is centralized, numerous simulation scenarios have been conducted to illustrate its effectiveness and its superior performance for a small group of mobile robots. Furthermore, we show that path following control can offer a number of advantages over its trajectory tracking counterpart. Koordinirano slije enje putanje za mobilne robote zasnovano na strategiji virtualne strukture i modelskom prediktivnom upravljanju. U ovomečlanku predlaže se novi algoritam upravljanja koordiniranim slije enjem putanje za mobilne robote zasnovan na modelskom prediktivnom upravljanju. Strategija se zasniva na pristupu s virtualnom strukturom gdje se cijela formacija robota smatra krutim tijelom, dok se za virtualno vodeće vozilo i za slijedeće robote optimiziraju zakoni upravljanja vodeći računa o dinamici virtualne strukture i željenom gibanju svakog od vozila. Tako er, algoritam ispunjava uvjet vremena konvergencije radi praćenja trajektorija na način da integrira dodataničlan unutar algoritma modelskog prediktivnog upravljanja. Me utim, koristeći modelsko prediktivno upravljanje postavlja se pitanje može li ovakav pristup u otvorenom upravljačkom krugu jamčiti stabilnost. Radi toga, primijenjuje se ideja sužavajućeg ograničenja radi jamčenja stabilnosti predloženog riješenja. Iako je predloženi pristup centraliziran, provedeni su brojni simulacijski eksperimenti kako bi se ilustrirala učinkovitost i superiorno vladanje na primjeru male grupe mobilnih robota. Nadalje, pokazuje se da upravljanje slije enjem putanje pruža brojne prednosti u usporedbi s praćenjem trajektorije.Ključne riječi: upravljanje koordiniranim slije enjem putanje, modelsko prediktivno upravljanje, mobilni roboti, virtualna struktura, upravljanje gibanjem robota

show abstract

“…The underlying assumption of this problem is that the robot's forward velocity tracks a desired velocity profile, while the controller determines the robot's moving direction to drive it to the path without any consideration in temporal specifications. Typically this controller eliminates the aggressiveness of the tracking controller by forcing convergence to the path in a smooth way (Al-Hiddabi and McClamroch, 2002).…”

Section: Introductionmentioning

confidence: 99%

“…Altafini (Altafini, 2002) addressed a path following controller for an n trailer vehicle. Path following controllers for aircraft and marine vehicles were reported in (Al-Hiddabi and McClamroch, 2002) and (Encarnação and Pascoal, 2000), respectively.…”

Section: Introductionmentioning

confidence: 99%

Path Following with an Optimal Forward Velocity for a Mobile Robot

Kanjanawanishkul

Hofmeister

Zell

2010

IFAC Proceedings Volumes

View full text Add to dashboard Cite

Abstract:In this paper, we present a novel solution for a path following problem in partially-known static environments. Given linearized error dynamic equations, model predictive control (MPC) is employed to produce a sequence of angular velocities. Since the forward velocity of the robot has to be adapted to environmental constraints and robot dynamics while the robot is following a path, we propose an optimal solution to generate the velocity profile. Furthermore, we integrate an obstacle-avoidance behavior using local sensor information with a path-following behavior based on global knowledge. To achieve this, we introduce new waypoints in order to move the robot away from obstacles while the robot still keeps following the desired path. Extensive simulations and experiments with a physical unicycle mobile robot have been conducted to illustrate the effectiveness of our path following control framework.

show abstract

Tracking and maneuver regulation control for nonlinear nonminimum phase systems: application to flight control

Cited by 166 publications

References 15 publications

On Limitations to the Achievable Path Following Performance for Linear Multivariable Plants

On Limitations to the Achievable Path Following Performance for Linear Multivariable Plants

Coordinated Path Following for Mobile Robots Using a Virtual Structure Strategy with Model Predictive Control

Path Following with an Optimal Forward Velocity for a Mobile Robot

Contact Info

Product

Resources

About