Paper Info
Title
Preview Based Path-Following In The Presence Of Input Constraints
Abstract
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.
Year
DOI
Venue
2006
10.1109/ACC.2006.1657435
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12
Keywords
DocType
Volume
tracking,vehicle dynamics,design methodology,feedback,nonlinear system,torque,robots,linear systems,algorithm design and analysis,nonlinear systems
Conference
1-12
ISSN
Citations 
PageRank 
0743-1619
0
0.34
References 
Authors
5
3
Name
Order
Citations
PageRank
Maxim Subbotin1183.97
Dragan B. Dačić2846.45
Roy S. Smith318430.49