Trajectory Tracking Control of Planar Underactuated Vehicles

DOI10.1109/TAC.2016.2584180zbMath1366.93395OpenAlexW2464813668MaRDI QIDQ5280379

Sergey G. Nersesov, Hashem Ashrafiuon, Garrett Clayton

Publication date: 27 July 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.2016.2584180

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Variable structure systems (93B12) Kinematics of mechanisms and robots (70B15)

Related Items (14)

On vanishing gains in robust adaptation of switched systems: a new leakage-based result for a class of Euler-Lagrange dynamics ⋮ Towards structure-independent stabilization for uncertain underactuated Euler-Lagrange systems ⋮ Gain-adapting coupling control for a class of underactuated mechanical systems ⋮ Iterative feedback tuning for optimal repetitive constraint‐following control of uncertain mechanical systems using Udwadia–Kalaba theory ⋮ Trajectory tracking control of spatial underactuated vehicles ⋮ Design and experimental validation of a nonlinear controller for underactuated surface vessels ⋮ Tracking control for mobile robots considering the dynamics of all their subsystems: experimental implementation ⋮ 3D trajectory tracking of underactuated non-minimum phase underwater vehicles ⋮ Adaptive finite-time sliding mode control design for finite-time fault-tolerant trajectory tracking of marine vehicles with input saturation ⋮ Point stabilization and trajectory tracking of underactuated surface vessels: a geometric control approach ⋮ Leader-follower formation stabilization and tracking control for heterogeneous planar underactuated vehicle networks ⋮ Cascade sliding control for trajectory tracking of a nonholonomic mobile robot with adaptive neural compensator ⋮ Dynamic surface control of trajectory tracking marine vehicles with actuator magnitude and rate limits ⋮ Robust RHC for wheeled vehicles with bounded disturbances

This page was built for publication: Trajectory Tracking Control of Planar Underactuated Vehicles