Linear Algebra Based Control: Application to a Second Order Chained FormSystem
- Autores
- Rodriguez Aguilar, Leandro Pedro Faustino; Fernández Puchol, María Cecilia; Sanchez, Mabel Cristina; Scaglia, Gustavo Juan Eduardo
- Año de publicación
- 2021
- Idioma
- español castellano
- Tipo de recurso
- artículo
- Estado
- versión publicada
- Descripción
- Control of underactuated systems with non-holonomic constraints has been an issue of interest in recent years. These systems are hard to control because their linearization makes them uncontrollable and current approaches generally involve complex calculations.In this manuscript,a controller for trajectory tracking and positioning for a second-order chained form system using a simple approach based on linear algebra is proposed.The control law is formulated by setting two of the six variables trajectories, while the other four are calculated assuming the equations system has an exact solution, and ensuring the error tendsto zero. The stability of the proposed control system is demonstrated through the KhalilLemma, and simulations show theperformance of the controller.
Fil: Rodriguez Aguilar, Leandro Pedro Faustino. 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
Fil: Fernández Puchol, María Cecilia. 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. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina - Materia
-
Non-holonomic system
Linear algebra
Nonlinear tracking control,
Positioning. - Nivel de accesibilidad
- acceso abierto
- Condiciones de uso
- https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
- Repositorio
- Institución
- Consejo Nacional de Investigaciones Científicas y Técnicas
- OAI Identificador
- oai:ri.conicet.gov.ar:11336/153161
Ver los metadatos del registro completo
id |
CONICETDig_c7b99bdc9137426ac4087c2496ec1751 |
---|---|
oai_identifier_str |
oai:ri.conicet.gov.ar:11336/153161 |
network_acronym_str |
CONICETDig |
repository_id_str |
3498 |
network_name_str |
CONICET Digital (CONICET) |
spelling |
Linear Algebra Based Control: Application to a Second Order Chained FormSystemRodriguez Aguilar, Leandro Pedro FaustinoFernández Puchol, María CeciliaSanchez, Mabel CristinaScaglia, Gustavo Juan EduardoNon-holonomic systemLinear algebraNonlinear tracking control,Positioning.https://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2Control of underactuated systems with non-holonomic constraints has been an issue of interest in recent years. These systems are hard to control because their linearization makes them uncontrollable and current approaches generally involve complex calculations.In this manuscript,a controller for trajectory tracking and positioning for a second-order chained form system using a simple approach based on linear algebra is proposed.The control law is formulated by setting two of the six variables trajectories, while the other four are calculated assuming the equations system has an exact solution, and ensuring the error tendsto zero. The stability of the proposed control system is demonstrated through the KhalilLemma, and simulations show theperformance of the controller.Fil: Rodriguez Aguilar, Leandro Pedro Faustino. 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; ArgentinaFil: Fernández Puchol, María Cecilia. 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. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaInstitute of Electrical and Electronics Engineers2021-09info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/153161Rodriguez Aguilar, Leandro Pedro Faustino; Fernández Puchol, María Cecilia; Sanchez, Mabel Cristina; Scaglia, Gustavo Juan Eduardo; Linear Algebra Based Control: Application to a Second Order Chained FormSystem; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 19; 9; 9-2021; 1-81548-0992CONICET DigitalCONICETspainfo:eu-repo/semantics/altIdentifier/url/https://latamt.ieeer9.org/index.php/transactions/article/view/4527info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:34:12Zoai:ri.conicet.gov.ar:11336/153161instacron: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:34982025-09-29 09:34:12.857CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse |
dc.title.none.fl_str_mv |
Linear Algebra Based Control: Application to a Second Order Chained FormSystem |
title |
Linear Algebra Based Control: Application to a Second Order Chained FormSystem |
spellingShingle |
Linear Algebra Based Control: Application to a Second Order Chained FormSystem Rodriguez Aguilar, Leandro Pedro Faustino Non-holonomic system Linear algebra Nonlinear tracking control, Positioning. |
title_short |
Linear Algebra Based Control: Application to a Second Order Chained FormSystem |
title_full |
Linear Algebra Based Control: Application to a Second Order Chained FormSystem |
title_fullStr |
Linear Algebra Based Control: Application to a Second Order Chained FormSystem |
title_full_unstemmed |
Linear Algebra Based Control: Application to a Second Order Chained FormSystem |
title_sort |
Linear Algebra Based Control: Application to a Second Order Chained FormSystem |
dc.creator.none.fl_str_mv |
Rodriguez Aguilar, Leandro Pedro Faustino Fernández Puchol, María Cecilia Sanchez, Mabel Cristina Scaglia, Gustavo Juan Eduardo |
author |
Rodriguez Aguilar, Leandro Pedro Faustino |
author_facet |
Rodriguez Aguilar, Leandro Pedro Faustino Fernández Puchol, María Cecilia Sanchez, Mabel Cristina Scaglia, Gustavo Juan Eduardo |
author_role |
author |
author2 |
Fernández Puchol, María Cecilia Sanchez, Mabel Cristina Scaglia, Gustavo Juan Eduardo |
author2_role |
author author author |
dc.subject.none.fl_str_mv |
Non-holonomic system Linear algebra Nonlinear tracking control, Positioning. |
topic |
Non-holonomic system Linear algebra Nonlinear tracking control, Positioning. |
purl_subject.fl_str_mv |
https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
dc.description.none.fl_txt_mv |
Control of underactuated systems with non-holonomic constraints has been an issue of interest in recent years. These systems are hard to control because their linearization makes them uncontrollable and current approaches generally involve complex calculations.In this manuscript,a controller for trajectory tracking and positioning for a second-order chained form system using a simple approach based on linear algebra is proposed.The control law is formulated by setting two of the six variables trajectories, while the other four are calculated assuming the equations system has an exact solution, and ensuring the error tendsto zero. The stability of the proposed control system is demonstrated through the KhalilLemma, and simulations show theperformance of the controller. Fil: Rodriguez Aguilar, Leandro Pedro Faustino. 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 Fil: Fernández Puchol, María Cecilia. 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. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina |
description |
Control of underactuated systems with non-holonomic constraints has been an issue of interest in recent years. These systems are hard to control because their linearization makes them uncontrollable and current approaches generally involve complex calculations.In this manuscript,a controller for trajectory tracking and positioning for a second-order chained form system using a simple approach based on linear algebra is proposed.The control law is formulated by setting two of the six variables trajectories, while the other four are calculated assuming the equations system has an exact solution, and ensuring the error tendsto zero. The stability of the proposed control system is demonstrated through the KhalilLemma, and simulations show theperformance of the controller. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-09 |
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/11336/153161 Rodriguez Aguilar, Leandro Pedro Faustino; Fernández Puchol, María Cecilia; Sanchez, Mabel Cristina; Scaglia, Gustavo Juan Eduardo; Linear Algebra Based Control: Application to a Second Order Chained FormSystem; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 19; 9; 9-2021; 1-8 1548-0992 CONICET Digital CONICET |
url |
http://hdl.handle.net/11336/153161 |
identifier_str_mv |
Rodriguez Aguilar, Leandro Pedro Faustino; Fernández Puchol, María Cecilia; Sanchez, Mabel Cristina; Scaglia, Gustavo Juan Eduardo; Linear Algebra Based Control: Application to a Second Order Chained FormSystem; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 19; 9; 9-2021; 1-8 1548-0992 CONICET Digital CONICET |
dc.language.none.fl_str_mv |
spa |
language |
spa |
dc.relation.none.fl_str_mv |
info:eu-repo/semantics/altIdentifier/url/https://latamt.ieeer9.org/index.php/transactions/article/view/4527 |
dc.rights.none.fl_str_mv |
info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/2.5/ar/ |
eu_rights_str_mv |
openAccess |
rights_invalid_str_mv |
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/ |
dc.format.none.fl_str_mv |
application/pdf application/pdf application/pdf application/pdf |
dc.publisher.none.fl_str_mv |
Institute of Electrical and Electronics Engineers |
publisher.none.fl_str_mv |
Institute of Electrical and Electronics Engineers |
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 |
_version_ |
1844613056890404864 |
score |
13.070432 |