A path following problem for a class of non-holonomic control systems with noise |
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Authors: | Luca Consolini [Author Vitae] Mario Tosques [Author Vitae] |
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Affiliation: | a Dipartimento di Ingegneria dell’Informazione, Università di Parma, Parco Area delle Scienze 181/A, 43100 Parma, Italy b Dipartimento di Ingegneria Civile, Università di Parma, Parco Area delle Scienze 181/A, 43100 Parma, Italy |
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Abstract: | This paper deals with a path following problem for a system affected by noise and proposes a dynamic inversion-based controller that makes use of the error between the real position and a suitable path location. An estimate of such error is given in terms of the noise bounds, showing the practical stability of the closed loop system. The results presented in this article apply to a subclass of Chaplygin control systems which includes several common mechanical systems. As an example the developed strategy has been applied to maneuver a kinematic model of a system moving in a 3-dimensional space in such a way that a point located at a positive distance from its center of geometry is driven towards a given path. |
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Keywords: | Path following Non-holonomic systems Nonlinear control Geometric methods Constrained motion Robustness Dynamic inversion |
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