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Linear Algebra Based Control: Application to a Second Order Chained FormSystem

Rodriguez Aguilar, Leandro Pedro Faustino et al · Institute of Electrical and Electronics Engineers · 2021

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Author / responsible party
Rodriguez Aguilar, Leandro Pedro Faustino et al
Publisher
Institute of Electrical and Electronics Engineers
Year
2021
ISSN
1548-0992
ISSN
1548-0992
Language
Spanish

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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

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APA 7

Rodriguez Aguilar, L. P. F. E. A. (2021). Linear Algebra Based Control: Application to a Second Order Chained FormSystem. http://hdl.handle.net/11336/153161

MLA

Rodriguez Aguilar, Leandro Pedro Faustino et al. "Linear Algebra Based Control: Application to a Second Order Chained FormSystem." 2021. http://hdl.handle.net/11336/153161.

Chicago

Rodriguez Aguilar, Leandro Pedro Faustino et al. 2021. "Linear Algebra Based Control: Application to a Second Order Chained FormSystem.". http://hdl.handle.net/11336/153161.

Harvard

Rodriguez Aguilar, L. P. F. E. A. 2021, Linear Algebra Based Control: Application to a Second Order Chained FormSystem, Institute of Electrical and Electronics Engineers, available at: http://hdl.handle.net/11336/153161 [Accessed 9 Aug. 2026].

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Title
Linear Algebra Based Control: Application to a Second Order Chained FormSystem
Author / contributors
Rodriguez Aguilar, Leandro Pedro Faustino et al
Publisher
Institute of Electrical and Electronics Engineers
Publication year
2021
ISSN
1548-0992
ISSN
1548-0992
Language
Spanish

Subjects

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Non-holonomic system; Linear algebra; Nonlinear tracking control ; Positioning.; https://purl.org/becyt/ford/2.2; https://purl.org/becyt/ford/2
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