Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System

Autores
Rodriguez Aguilar, Leandro Pedro Faustino; Serrano, Mario Emanuel; Sanchez, Mabel Cristina; Scaglia, Gustavo Juan Eduardo
Año de publicación
2020
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
The development of controllers for underactuated systems with nonholonomic constraints has been a topic of significant interest for many researchers in recent years. These systems are hard to control because their linearization transform them into uncontrollable systems. The proposed approaches involve the use of a permanent excitation in the reference trajectory; coordinate transformation; discontinuities; or complex calculations. This paper proposes the design of the controller of the second-order chained form system for trajectory tracking by using a simpler approach based on linear algebra. Up to the present time, no controllers based on this approach have been designed for that system. The control problem is solved by setting two of the three systems variables as a reference, while the remaining variable is calculated imposing the condition that the equations system has an exact solution to ensure that tracking errors go to zero. The stability of the proposed controller is theoretically demonstrated, and simulations results show a suitable control system performance. Also, no coordinate transformation is necessary.
Fil: Rodriguez Aguilar, Leandro Pedro Faustino. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina
Fil: Sanchez, Mabel Cristina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Planta Piloto de Ingeniería Química. Universidad Nacional del Sur. Planta Piloto de Ingeniería Química; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina
Materia
Control Based on Linear Algebra
Trajectory Tracking
Positioning
Second-Order Chained Form System
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/152032
Acceder
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network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form SystemRodriguez Aguilar, Leandro Pedro FaustinoSerrano, Mario EmanuelSanchez, Mabel CristinaScaglia, Gustavo Juan EduardoControl Based on Linear AlgebraTrajectory TrackingPositioningSecond-Order Chained Form Systemhttps://purl.org/becyt/ford/2.4https://purl.org/becyt/ford/2The development of controllers for underactuated systems with nonholonomic constraints has been a topic of significant interest for many researchers in recent years. These systems are hard to control because their linearization transform them into uncontrollable systems. The proposed approaches involve the use of a permanent excitation in the reference trajectory; coordinate transformation; discontinuities; or complex calculations. This paper proposes the design of the controller of the second-order chained form system for trajectory tracking by using a simpler approach based on linear algebra. Up to the present time, no controllers based on this approach have been designed for that system. The control problem is solved by setting two of the three systems variables as a reference, while the remaining variable is calculated imposing the condition that the equations system has an exact solution to ensure that tracking errors go to zero. The stability of the proposed controller is theoretically demonstrated, and simulations results show a suitable control system performance. Also, no coordinate transformation is necessary.Fil: Rodriguez Aguilar, Leandro Pedro Faustino. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Sanchez, Mabel Cristina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Planta Piloto de Ingeniería Química. Universidad Nacional del Sur. Planta Piloto de Ingeniería Química; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaHindawi Publishing Corporation2020-08info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/152032Rodriguez Aguilar, Leandro Pedro Faustino; Serrano, Mario Emanuel; Sanchez, Mabel Cristina; Scaglia, Gustavo Juan Eduardo; Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2020; 8-2020; 1-81563-51471024-123XCONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.hindawi.com/journals/mpe/2020/6082586/info:eu-repo/semantics/altIdentifier/doi/10.1155/2020/6082586info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:05:43Zoai:ri.conicet.gov.ar:11336/152032instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-10 13:05:43.825CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
title Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
spellingShingle Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
Rodriguez Aguilar, Leandro Pedro Faustino
Control Based on Linear Algebra
Trajectory Tracking
Positioning
Second-Order Chained Form System
title_short Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
title_full Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
title_fullStr Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
title_full_unstemmed Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
title_sort Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System
dc.creator.none.fl_str_mv Rodriguez Aguilar, Leandro Pedro Faustino
Serrano, Mario Emanuel
Sanchez, Mabel Cristina
Scaglia, Gustavo Juan Eduardo
author Rodriguez Aguilar, Leandro Pedro Faustino
author_facet Rodriguez Aguilar, Leandro Pedro Faustino
Serrano, Mario Emanuel
Sanchez, Mabel Cristina
Scaglia, Gustavo Juan Eduardo
author_role author
author2 Serrano, Mario Emanuel
Sanchez, Mabel Cristina
Scaglia, Gustavo Juan Eduardo
author2_role author
author
author
dc.subject.none.fl_str_mv Control Based on Linear Algebra
Trajectory Tracking
Positioning
Second-Order Chained Form System
topic Control Based on Linear Algebra
Trajectory Tracking
Positioning
Second-Order Chained Form System
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.4
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv The development of controllers for underactuated systems with nonholonomic constraints has been a topic of significant interest for many researchers in recent years. These systems are hard to control because their linearization transform them into uncontrollable systems. The proposed approaches involve the use of a permanent excitation in the reference trajectory; coordinate transformation; discontinuities; or complex calculations. This paper proposes the design of the controller of the second-order chained form system for trajectory tracking by using a simpler approach based on linear algebra. Up to the present time, no controllers based on this approach have been designed for that system. The control problem is solved by setting two of the three systems variables as a reference, while the remaining variable is calculated imposing the condition that the equations system has an exact solution to ensure that tracking errors go to zero. The stability of the proposed controller is theoretically demonstrated, and simulations results show a suitable control system performance. Also, no coordinate transformation is necessary.
Fil: Rodriguez Aguilar, Leandro Pedro Faustino. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina
Fil: Sanchez, Mabel Cristina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Planta Piloto de Ingeniería Química. Universidad Nacional del Sur. Planta Piloto de Ingeniería Química; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina
description The development of controllers for underactuated systems with nonholonomic constraints has been a topic of significant interest for many researchers in recent years. These systems are hard to control because their linearization transform them into uncontrollable systems. The proposed approaches involve the use of a permanent excitation in the reference trajectory; coordinate transformation; discontinuities; or complex calculations. This paper proposes the design of the controller of the second-order chained form system for trajectory tracking by using a simpler approach based on linear algebra. Up to the present time, no controllers based on this approach have been designed for that system. The control problem is solved by setting two of the three systems variables as a reference, while the remaining variable is calculated imposing the condition that the equations system has an exact solution to ensure that tracking errors go to zero. The stability of the proposed controller is theoretically demonstrated, and simulations results show a suitable control system performance. Also, no coordinate transformation is necessary.
publishDate 2020
dc.date.none.fl_str_mv 2020-08
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/152032
Rodriguez Aguilar, Leandro Pedro Faustino; Serrano, Mario Emanuel; Sanchez, Mabel Cristina; Scaglia, Gustavo Juan Eduardo; Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2020; 8-2020; 1-8
1563-5147
1024-123X
CONICET Digital
CONICET
url http://hdl.handle.net/11336/152032
identifier_str_mv Rodriguez Aguilar, Leandro Pedro Faustino; Serrano, Mario Emanuel; Sanchez, Mabel Cristina; Scaglia, Gustavo Juan Eduardo; Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2020; 8-2020; 1-8
1563-5147
1024-123X
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.hindawi.com/journals/mpe/2020/6082586/
info:eu-repo/semantics/altIdentifier/doi/10.1155/2020/6082586
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Hindawi Publishing Corporation
publisher.none.fl_str_mv Hindawi Publishing Corporation
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 12.993085

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