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CDC
2009
IEEE

Time-varying path following control for port-Hamiltonian systems

13 years 1 months ago
Time-varying path following control for port-Hamiltonian systems
This paper is devoted to path following control for port-Hamiltonian systems whose desired path is timevarying. Most of the existing results on path following can only take care of time invariant paths, hence they cannot be applied to control systems whose environments change, e.g., path following control with moving obstacle avoidance or with a path crossing itself. The proposed method solves this problem by employing decoupling control of three particular directions in the phase space which allows one to assign time-varying potential functions and vector fields.
Mitsuru Taniguchi, Kenji Fujimoto
Added 16 Feb 2011
Updated 16 Feb 2011
Type Journal
Year 2009
Where CDC
Authors Mitsuru Taniguchi, Kenji Fujimoto
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