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
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/153161

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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
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score 13.070432