Name
Abstract | ||
|---|---|---|
This paper proposes a passivity-based trajectory tracking control for an autonomous bicycle. The nonlinear bicylce model is considered as an under-actuated pseudo-Hamiltonian system including the nonholonomic constraints. For the synthesis of the tracking controller the method of generalized canonical transformation is applied with some modifications. A first transformation compensates the effect of the gravity and, then, creates an error system. This reduces the problem of tracking to a stabilisation problem. A second transformation stabilises the resulting time-varying error system on the trajectory. Further, an integral action is added to deal with uncertainties and disturbance. Finally, simulations are run for two types of trajectories to verify the stability and investigate the performance of the closed loop. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IECON.2018.8591382 | IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY |
Field | DocType | ISSN |
Passivity,Control theory,Nonlinear system,Canonical transformation,Control theory,Integral action,Control engineering,Engineering,Nonholonomic system,Benchmark (computing),Trajectory | Conference | 1553-572X |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Alen Turnwald | 1 | 0 | 0.34 |
| Matthias Schäfer | 2 | 114 | 16.20 |
| Steven Liu | 3 | 257 | 22.69 |