Title :
Bang-bang control for type-2 systems
Author :
Brien, Richard T O, Jr.
Author_Institution :
Dept. of Syst. Eng., US Naval Acad., Annapolis, MD
Abstract :
A sampled-data, bang-bang control algorithm developed for a double integrator plant is extended to higher-order plants with two integrators. In the case where nonintegrator dynamics are considered unmodeled, the robustness of the control algorithm is analyzed. In the case where nonintegrator dynamics are modeled, the control algorithm design procedure is generalized to incorporate the additional dynamics. Both approaches are examined through the design and simulation of a steering controller for an autonomous ground vehicle
Keywords :
bang-bang control; centralised control; mobile robots; sampled data systems; steering systems; autonomous ground vehicle; bang-bang control; double integrator plant; nonintegrator dynamics; sampled-data control; steering controller; type-2 systems; Algorithm design and analysis; Bang-bang control; Control systems; Land vehicles; Open loop systems; Position control; Robust control; Shape control; Vehicle dynamics; Velocity control;
Conference_Titel :
System Theory, 2006. SSST '06. Proceeding of the Thirty-Eighth Southeastern Symposium on
Conference_Location :
Cookeville, TN
Print_ISBN :
0-7803-9457-7
DOI :
10.1109/SSST.2006.1619108
