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Titel:

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

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
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...     »
Zeitschriftentitel:
Applied Sciences
Jahr:
2020
Band / Volume:
10
Heft / Issue:
23
Seitenangaben Beitrag:
8760
Volltext / DOI:
doi:10.3390/app10238760
WWW:
http://dx.doi.org/10.3390/app10238760
Print-ISSN:
2076-3417
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