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Backstepping with virtual filtered command: Application to a 2D autonomous Vehicle

Author
Cayero, J.; Pep Cugueró Escofet; Morcego, B.
Type of activity
Presentation of work at congresses
Name of edition
euRathlon/ARCAS Workshop and Summer School 2014 on Field Robotics
Date of publication
2014
Presentation's date
2014-06-15
Book of congress proceedings
Proceedings of the 2014 euRathlon-ARCAS Workshop and Summer School on Field Robotics,
Repository
http://hdl.handle.net/2117/25003 Open in new window
Abstract
Through this work a deep understanding of the backstepping control technique is sought when applied over non-affine systems. It is shown that in this case appears the necessity to bound the value of internal states and that a modification over standard backstepping is mandatory. The principal goal of this study is to evaluate the effects of finite frequency filters, and the effects of saturation affecting intermediate states and control actions, in the tracking performance when using the command...
Citation
Cayero, J.; Pep Cugueró Escofet; Morcego, B. Backstepping with virtual filtered command: Application to a 2D autonomous Vehicle. A: euRathlon-ARCAS Workshop and Summer School on Field Robotics. "Proceedings of the 2014 euRathlon-ARCAS Workshop and Summer School on Field Robotics,". Sevilla: 2014.
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SIC - Smart Control Systems

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