Control no lineal de un aerodeslizador no holonómico con acciones de control limitadas

  1. Dictino Chaos 1
  2. David Moreno-Salinas 1
  3. Rocío Muñoz 1
  4. Joaquín Aranda 1
  1. 1 Universidad Nacional de Educación a Distancia
    info

    Universidad Nacional de Educación a Distancia

    Madrid, España

    ROR https://ror.org/02msb5n36

Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Año de publicación: 2013

Volumen: 10

Número: 4

Páginas: 402-412

Tipo: Artículo

DOI: 10.1016/J.RIAI.2013.05.012 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Revista iberoamericana de automática e informática industrial ( RIAI )

Objetivos de desarrollo sostenible

Resumen

This paper deals with the interesting problem of trajectory tracking of an underactuated hovercraf. This system is difficult to control because it exhibits second order nonholonomic restrictions on its movement. In order to solve the control problem the dynamics of the system is discomposed in two subsystems (one for position and another for orientation) and a nonlinear control law based on two nonlinear cascaded controllers is designed. On one hand the outer, loop computes the forces that are necessary to track the spatial trajectory Fx and Fy in the inertial frame. Based on this forces, the reference for the orientation ψc is computed and it is feedback to the inner loop. On the other hand, the inner loop tries to converge the orientation to the reference ψc given by the outer loop. Both controllers are designed taking into account saturation of the actuators. In fact the main result of this paper shows that if the reference trajectory is given properly it is possible to avoid saturation of the actuators. With adequate selection, global asymptotic stability of the tracking error under the proposed control law is theoretically demonstrated. In addition simulations are made in order to analyze the performance of the control law and the practical meaning of the theoretical results.

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