Signal invariance and trajectory steering problem for an autonomous wheeled robotYakubovich, V. A., Melnikov, A., Proskurnikov, A. & Luchin, R., 2011, 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC). IEEE (The Institute of Electrical and Electronics Engineers), p. 3344-3349 6 p. (Proceedings of the IEEE Conference on Decision and Control).
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic
We give a new convenient parametrization of linear controllers that solve the problem of signal invariance (or disturbance cancellation) for MIMO plants. As an example of application of the obtained results we consider the trajectory tracking problem for non-holonomic wheeled transport robots.
|Title of host publication||2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)|
|Publisher||IEEE (The Institute of Electrical and Electronics Engineers)|
|Number of pages||6|
|Publication status||Published - 2011|
|Name||Proceedings of the IEEE Conference on Decision and Control|