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Nonlinear Observer-based Active Control of Ground Vehicles with Non Negligible Roll Dynamics
Riccardo Cespi,Cuauhtemoc Acosta Lua,Bernardino Castillo-Toledo,Stefano Di Gennaro 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.3
In this paper we present an observer–based nonlinear controller for lateral and yaw velocity, for a vehiclein which the roll dynamics can not be neglected. The observer estimates the lateral velocity, and the roll positionand velocity. This technique is based on measurements of the longitudinal and lateral accelerations, longitudinalvelocity, yaw rate and steer angle, usually available in modern vehicles. The nonlinear observer ensures exponentialconvergence of the estimations. The test maneuvers, obtained with the full–vehicle CarSim model under differentroad adhesion conditions, have been used to check the controller performance, as well as its robustness with respectto parameter variations.
Global Set Point Robust Regulation for a PVTOL Vehicle With Bounded Inputs
G. Obregon-Pulido,J. A. Meda-Campana,G. Solis-Perales,Castillo-Toledo 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
A design procedure to robustly globally stabilize the Planar Vertical Take Off and Landing (PVTOL) around a position by means of bounded control law and without knowledge of the velocities is presented. The methodology is based on the use of saturation functions bounding the thrust and the roll inputs. To this purpose the techniques given in [13]-[14] (making use of the full state) are enriched with the design of an observer for the nominal system. The algorithm is simple and provides global robust convergence to the reference constant signals.