On linear and nonlinear trajectory tracking control for nonholonomic integrator

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Abstract

This paper presents two different kinds of trajectory tracking control strategies for the nonholonomic integrator known in literature as Brockett system. The first strategy presents a time-varying linear feedback control law and the second strategy is based on State Dependent Ricatti Equation (SDRE) method. Numerical simulation results indicated that both methods can be successfully used for control of the nonholomic integrator.

Keywords: Brockett integrator, Hamilton – Jacobi – Bellman equation, SDRE method.

About the authors

UFABC, Santo André, SP, Brazil

Author for correspondence.
Email: elvira.rafikova@ufabc.edu.br
Russian Federation

UNICAMP, Campinas, SP, Brazil

Email: kurka@fem.unicamp.br
Russian Federation

UFABC, Santo André, SP, Brazil

Email: marat.rafikov@ufabc.edu.br
Russian Federation

Samara State Aerospace University

Email: gafurov@ssau.ru
Russian Federation

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Journal of Dynamics and Vibroacoustics

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