By Atsunobu Ichikawa; Katsuhisa Furuta; International Federation of Automatic Control. Technical Committee on Control Education
The implementation of powerful keep an eye on structures may also help to accomplish quite a lot of merits, now not least when it comes to actual cost-savings. schooling performs an essential function in making sure persisted luck and its value is easily well-known by means of IFAC with a particularly targeted technical committee during this sector. This helpful book brings jointly the result of foreign study and event within the most modern keep watch over schooling recommendations, as provided on the most modern symposium. details on track curricula is gifted, in addition to teachware, together with software program and laboratory experimental appparatus.
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Extra info for Advances in control education 1994 (ACE '94) : IFAC symposium, Tokyo, Japan, 1-2 August 1994
Observe that [Remark] Since we will design a feedback (path tracking) controller, it will be robust against pa rameter perturbation and disturbances. Thus, the proposed controller can also be used for vehicles which do not exactly satisfy these assumptions. 2 is the center of rotation of the tractor and the trailer, respectively. Thus, we have the following differ ential equations: = d6 dx2 = = Thus, we can obtain the exactly linearized system: (22) We can readily design any type of linear stabiliz..
1 . 2. X-axis is the desired path. (X, Y) are Cartesian coordinates which represent the posi tion of the vehicle. x2 is the distance along the desired path and Y2 represents the deviation from the desired path. 8 and 82 represent the orienta 1 tion of the tractor and the trailer, respectively. a is the steering angle. £ and £2 are wheel bases 1 of the tractor and the trailer, respectively. re the distance along the real paths of the trac tor and the trailer, respectively. e = T(x), to design path tracking controllers for articulated vehicles.
F(O) = 0. y to design a. tion. In a. nd then design a. linear stabilizing controller. ,=o Ax + Bu + 02 (x, u). (2) If we ignore the term 02 (x, u) then the system is linear. For this system, we can design stabilizing controllers using the conventional linear control theory, for example, a. re moving backward. 2. , 1 980). I. 29 Jack-Knife the feedback (5) exist). (3) u = Fx. This controller, however, guarantees the stability of the closed loop system only in a (small) neigh borhood of the origin (x = 0).