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

Title
A robust algorithm for model-following control of under-actuated systems, and its application to a non-holonomic robot and an aircraft
Authors
Han Y.
Ewha Authors
한영모
Issue Date
2005
Journal Title
International Journal of Systems Science
ISSN
0020-7721JCR Link
Citation
International Journal of Systems Science vol. 36, no. 6, pp. 341 - 356
Indexed
SCIE; SCOPUS WOS scopus
Document Type
Article
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 under-actuated 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. © 2005 Taylor & Francis Group Ltd.
DOI
10.1080/00207720500111673
Appears in Collections:
엘텍공과대학 > 정보통신공학전공 > Journal papers
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