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http://dx.doi.org/10.5916/jkosme.2007.31.4.455

High order chained system control using deadbeat and iterative control  

Nam, Taek-Kun (목포해양대학교 기관시스템공학부)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.31, no.4, 2007 , pp. 455-461 More about this Journal
Abstract
In this paper a state steering strategy for high order chained system is presented. High order chained system can be derived from the acceleration constraints that cannot be integrable. The system classified as a nonholonomic system cannot be controlled to its equilibrium points by continuous and time-invariant controller. Using variable transformation two sub system can be obtained from the high order chained system. Deadbeat control and iterative state steering methods are proposed to control the system. Simulation results are given to show the effectiveness of the proposed control scheme.
Keywords
High order chained system; Iterative control; Deadbeat control; Nonholonomic system;
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