Title :
Local path following problem for time-varying nonlinear control affine systems
Author :
Consolini, Luca ; Tosques, Mario
Author_Institution :
Dipt. di Ingegneria dell´´Informazione, Parma Univ., Italy
Abstract :
The local path following problem for time-varying nonlinear control affine systems is addressed and sufficient conditions for its solution are found by transforming it in a constrained nonlinear control problem on a suitable manifold. In case of Chaplygin-type systems, a very simple condition and a dynamic inversion generator of the control are exhibited. The developed theory has been applied to the kinematic models of planar and aerial vehicles.
Keywords :
aircraft control; mobile robots; nonlinear control systems; path planning; robot kinematics; time-varying systems; Chaplygin-type system; aerial vehicle; constrained nonlinear control problem; dynamic inversion generator; kinematic model; local path following problem; planar vehicle; time-varying nonlinear control affine system; Constraint theory; Control systems; Kinematics; Nonlinear control systems; Nonlinear dynamical systems; Strain control; Sufficient conditions; Time varying systems; Vehicle dynamics; Vehicles;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1244088
