Maneuver Regulation from Trajectory Tracking: Feedback Linearizable Systems *

Hauser, John; Hindman, Rick

doi:10.1016/s1474-6670(17)46893-5

Cited by 98 publications

(77 citation statements)

References 3 publications

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“…To circumvent difficulties such as the speed-up problem, an alternative control strategy called maneuver regulation can be used [24], [25]. With a maneuver regulation controller, the maneuvering error is defined using an appropriate "distance" between the current state and the entire desired state curve , rather than just the desired state at time .…”

Section: Maneuver Regulationmentioning

confidence: 99%

“…As a consequence, in the case that , for some , the controller simply uses the delayed version of the desired input , avoiding the potentially dangerous speed-up phenomenon. In the following, we present some important aspects of this theory, referring the reader to [24]- [27] and [19] for further details and results.…”

Section: Maneuver Regulationmentioning

confidence: 99%

“…That is, for each constant in the desired set, the dynamic response of the linear system (27) satisfies the chosen performance measures, where is the constant LQR gain associated with . This pair is then used to construct for the chosen task using (24), (25) above. Although we do not have a formal justification, our experience seems to indicate that the -varying system (26) inherits many of the performance characteristics of the family of constant systems (27).…”

Section: E Shaping the Closed-loop Responsementioning

confidence: 99%

See 2 more Smart Citations

A Virtual Rider for Motorcycles: Maneuver Regulation of a Multi-Body Vehicle Model

Saccon¹,

Hauser

Beghi

2013

IEEE Trans. Contr. Syst. Technol.

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Section: Maneuver Regulationmentioning

confidence: 99%

Section: Maneuver Regulationmentioning

confidence: 99%

Section: E Shaping the Closed-loop Responsementioning

confidence: 99%

See 1 more Smart Citation

A Virtual Rider for Motorcycles: Maneuver Regulation of a Multi-Body Vehicle Model

Saccon¹,

Hauser

Beghi

2013

IEEE Trans. Contr. Syst. Technol.

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“…This has lead to an alternate problem formulation called "path following," e.g. see [1], [7], [11], [12].…”

Section: Introductionmentioning

confidence: 99%

On Limitations to the Achievable Path Following Performance for Linear Multivariable Plants

Miller

Middleton

2008

IEEE Trans. Automat. Contr.

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Abstract-In this paper, we consider a problem termed "path following". This differs from the common problem of reference tracking, in that here we can adjust the speed at which we traverse the reference trajectory. We are interested in ascertaining the degree to which we can track a given trajectory, and in characterizing the class of paths for which we can generate an appropriate temporal specification so that the path can be tracked arbitrarily well in an 2 sense. We give various bounds on the achievable performance, as well as tight results in special cases. In addition, we give a numerical procedure based on convex optimization for computing the achievable performance. The results demonstrate that there are situations where arbitrarily good 2 performance may be achieved even though the origin is not in the convex hull of the positive limit set of the path to be followed.Index Terms-2 performance limitations, nonminimum phase systems, path following, tracking.

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“…In the second task, θ is used to satisfy an additional specification of speed assignment. Hauser and Hindman (1995) introduced a procedure to design a maneuver regulation controller which ensures that the states converge to the desired path and then proceed along the path. To determine the path variable θ, they used a P -orthogonal projection from the current state onto the path.…”

Section: Introductionmentioning

confidence: 99%

Robust output maneuvering for a class of nonlinear systems

2004

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The output maneuvering problem involves two tasks. The first, which is the geometric task, is to force the output to converge to a desired path parametrized by a continuous scalar variable θ. The second task is to satisfy a desired speed assignment along the path. The main concern is to satisfy the geometric task. However, the speed assignment will ensure that the output follows the path with sufficient speed. A recursive control design technique is developed for nonlinear plants in vectorial strict feedback form of any relative degree. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the speed assignment. An extra degree of freedom is provided for an operator to specify the speedθ. A computer simulation with a marine vessel is performed to illustrate the design. Copyright c°2002 IFAC

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Maneuver Regulation from Trajectory Tracking: Feedback Linearizable Systems *

Cited by 98 publications

References 3 publications

A Virtual Rider for Motorcycles: Maneuver Regulation of a Multi-Body Vehicle Model

A Virtual Rider for Motorcycles: Maneuver Regulation of a Multi-Body Vehicle Model

On Limitations to the Achievable Path Following Performance for Linear Multivariable Plants

Robust output maneuvering for a class of nonlinear systems

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