Abstract
AbstractThe path following problem for a wheeled robot with constrained control resource is studied. The problem is first reduced to that of stabilizing the zero solution of a system that admits feedback linearization. The attraction domain of the zero solution of the system with the synthesized feedback is approximated by an invariant ellipsoid. To take into account control constraints, an approach based on methods of absolute stability theory is used, in the framework of which construction of an approximating invariant ellipsoid reduces to solving a system of linear matrix inequalities. The problem of finding the best in the sense of volume invariant ellipsoid is posed. It is shown that the desired maximum-volume ellipsoid can be found by solving a standard constrained optimization problem for a function of two variables.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
