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Title:

Trajectory/Path-Following Controller Based on Nonlinear Jerk-Level Error Dynamics

Document type:
Zeitschriftenaufsatz
Author(s):
Piprek, Patrick; Marb, Michael M.; Bhardwaj, Pranav; Holzapfel, Florian
Abstract:
This study proposes a novel, nonlinear trajectory/path-following controller based on jerk-level error dynamics. Therefore, at first the nonlinear acceleration-based kinematic equations of motion of a dynamic system are differentiated with respect to time to obtain a representation connecting the translation jerk with the (specific) force derivative. Furthermore, the path deviation, i.e., the difference between the planned and the actual path, is formulated as nonlinear error dynamics based on th...     »
Journal title:
Applied Sciences
Year:
2020
Journal volume:
10
Journal issue:
23
Pages contribution:
8760
Fulltext / DOI:
doi:10.3390/app10238760
WWW:
http://dx.doi.org/10.3390/app10238760
Print-ISSN:
2076-3417
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