A robust algorithm for model-following control of under-actuated systems, and its application to a non-holonomic robot and an aircraft

Authors:
Youngmo Han
Affiliations:
Department of Information Electronics Engineering, Ewha Women's University, Seodaemun-Gu, Seoul, Korea
Venue:
International Journal of Systems Science
Year:
2005

Citing 4
Cited 0

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Automatica (Journal of IFAC)

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Abstract

In this paper, we present an algorithm for model-following control of under-actuated systems. To make the algorithm robust, we try to suppress computation errors from approximations which are often encountered in the cases of applying the existing algorithms to the underactuated systems. In this view, we present an algorithm without any kinds of approximations, even in the cases of under-actuated systems. Finally, we check the examples in which the proposed algorithm is applied to a non-holonomic robot and an aircraft.