Trajectory tracking for non-holonomic cars: A linear approach to controlled leader-follower formation
Trajectory tracking for non-holonomic cars: A linear approach to controlled leader-follower formation
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DOI：
10.1109/cdc.2010.5717709
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发表时间：
2010-12
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通讯作者：
H. Sira-Ramírez;R. Castro‐Linares
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文献类型：
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作者：
H. Sira-Ramírez;R. Castro‐Linares
本文介绍了使用CARS的运动学模型在Leader-Proloter非全面汽车形成问题中的输出轨迹跟踪任务的线性鲁棒动态输出反馈控制方案的设计。对追随者的精确开路位置跟踪误差动力学提出了简化，该误差动力学通过平坦的注意事项获得，从而形成了一个由两个二阶，二阶，具有非线性速度依赖性控制输入矩阵增益的集成器描述的系统。未知的干扰被建模为绝对有界的，添加剂，未知的时间信号，可以通过taylor多项式的固定，足够高的族家族的任意元素局部近似。线性luenberger观察者可以很容易地设计，其中包括自我更新，未知干扰输入矢量组件的内部模型作为通用的时间多样性模型。提出的广义比例积分（GPI）观察者是GPI控制器（[11]）的双重对应者，达到了A，同时，干扰估计和跟踪误差阶段变量估计。这是在线收集的信息，用于在追随者的线性输出反馈控制器上优势，从而允许简单但有效，干扰和控制输入增益取消工作。结果可用于控制追随者领导者路径的固定时间延迟轨迹跟踪。提出了模拟，以说明拟议方法的鲁棒性。
This article describes the design of a linear robust dynamic output feedback control scheme for output reference trajectory tracking tasks in a leader-follower non-holonomic car formation problem using the cars' kinematic models. A simplification is proposed on the follower's exact open loop position tracking error dynamics, obtained by flatness considerations, resulting in a system described by an additively disturbed set of two, second order, integrators with non-linear velocity dependent control input matrix gain. The unknown disturbances are modeled as absolutely bounded, additive, unknown time signals which may be locally approximated by arbitrary elements of, a, fixed, sufficiently high degree family of Taylor polynomials. Linear Luenberger observers may be readily designed, which include the, self updating, internal model of the unknown disturbance input vector components as generic time-polynomial models. The proposed Generalized Proportional Integral (GPI) observers, which are the dual counterpart of GPI controllers ([11]), achieve a, simultaneous, disturbance estimation and tracking error phase variables estimation. This, on-line, gathered information is used to advantage on the follower's linear output feedback controller thus allowing for a simple, yet efficient, disturbance and control input gain cancelation effort. The results are applied to control the fixed time delayed trajectory tracking of the leader path on the part of the follower. Simulations are presented which illustrate the robustness of the proposed approach.