Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs
Joint Authors
Aranda, Joaquín
Moreno-Salinas, David
Chaos, Dictino
Muñoz-Mansilla, Rocío
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-22
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by means of discrete inputs.
Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control commands, and with minimal information about the dynamics of the actuators.
The control problem is approached as a cascade control problem, where the outer loop stabilizes the position error, and the inner loop stabilizes the orientation of the vehicle.
Stability of the controller is theoretically demonstrated and the robustness of the control law against disturbances and noise is established.
Simulation examples and experiments on a real setup validate the control law showing the real system to be robust against disturbances, noise, and outdated dynamics.
American Psychological Association (APA)
Chaos, Dictino& Moreno-Salinas, David& Muñoz-Mansilla, Rocío& Aranda, Joaquín. 2013. Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-16.
https://search.emarefa.net/detail/BIM-1032003
Modern Language Association (MLA)
Chaos, Dictino…[et al.]. Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs. Mathematical Problems in Engineering No. 2013 (2013), pp.1-16.
https://search.emarefa.net/detail/BIM-1032003
American Medical Association (AMA)
Chaos, Dictino& Moreno-Salinas, David& Muñoz-Mansilla, Rocío& Aranda, Joaquín. Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-16.
https://search.emarefa.net/detail/BIM-1032003
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032003