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

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

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 tra...

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Bibliographic Details
Main Authors: Patrick Piprek, Michael M. Marb, Pranav Bhardwaj, Florian Holzapfel
Format: Article
Language:English
Published: MDPI AG 2020-12-01
Series:Applied Sciences
Subjects:
nonlinear error dynamics
trajectory controller
path following control
jerk dynamics
jerk kinematics
nonlinear dynamic inversion
Online Access:https://www.mdpi.com/2076-3417/10/23/8760

Internet

https://www.mdpi.com/2076-3417/10/23/8760

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