Nicolas Got

3 Questions 4 Answers 0 Followers

Questions related from Nicolas Got

How to compute an optimal trajectory under constraints of a car like robot?

Hello, I have a car like robot system . I'm using a kinematic bicycle model for my controller. My control inputs are the acceleration and the derivative of the steering angle of the front wheels....

23 January 2018 861 4 View

In a LQR tracking problem, how to determine the steady state target?

Hello, in a SISO LQR tracking control ,the input command computed is : u(k) = us -G(x-xs) us represents the steady state input directly computed from my desired reference trajectory y(k) = r....

10 October 2017 2,094 3 View

With a control by input-output linerization (relative degree 6); How to choose properly the coefficients ki of the linear closed loop system?

After input-output linearizaton of my model, I obtain this equation (x represents the tracking error) from wich I can extract the command. d6X/dt6+ kn-1 x d5X/dt5+ ...+k1 dx/dt + k0 x = 0 the ki...

28 June 2017 5,647 1 View