Mapping filtered forwarding-based trajectory tracking control. Issue 12 (December 2015)

• Record Type: Journal Article
• Authors: Zhang, Xu; Huang, Xianlin; Lu, Hongqian
• Is Part Of: Journal of the Franklin Institute. Volume 352:Issue 12(2015:Dec.)
• Page Start: 5735
• Page End: 5757
• Publication Date: 2015-12
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2015.10.004
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: Forwading-based immersion and invariance approaches have been applied to control the high-order nonlinear systems, whereas it is an off-line algorithm and needs to directly compute analytic derivatives of the mappings. In our study, a new tracking control algorithm is developed by introducing a second-order filter at each step of the design. This recursive algorithm does not only overcome the problem of "explosion of complexity" to improve computational efficiency, but also suppresses the high-frequency noise arising from time derivatives of states and virtual controls. Unlike other existing control methodologies, it does not require the knowledge of a Lyapunov function in principle. The boundedness of all mappings and their analytic derivatives can be ultimately guaranteed by using the internal stability of filters. Also, this bottom-up algorithm is able to provide the modularized design of the controller, where real-time applications can be to some extent realized. In this work, a quadrotor helicopter is used to demonstrate the controller performances via various simulations. Abstract : Highlights: This algorithm does not require the knowledge of a Lyapunov function. The boundedness can be guaranteed by using internal stability of filters. The problem of "explosion of complexity" we encountered can be solved.