Non-linear QFT Robust Control of an Underactuated RC Hovercraft

Muñoz Mansilla, Rocío, Aranda Almansa, Joaquín, Díaz Martínez, José Manuel, Dormido Canto, Sebastián y Chaos García, Dictino . (2007) Non-linear QFT Robust Control of an Underactuated RC Hovercraft. European Control Conference 2007, July 2-5, 2007, Kos, Greece


Título Non-linear QFT Robust Control of an Underactuated RC Hovercraft
Autor(es) Muñoz Mansilla, Rocío
Aranda Almansa, Joaquín
Díaz Martínez, José Manuel
Dormido Canto, Sebastián
Chaos García, Dictino
Abstract An analysis and design of a multivariable nonlinear quantitative feedback theory (QFT) robust control for underactuated systems have been carried out. The system in study is a hovercraft. The model is a nonlinear MIMO 2x3 system. An interesting question is that the plant has less degree of freedom for actuation and is more difficult to control. The goal is to achieve a trajectory tracking control. The approach to non-linear QFT synthesis consists of a local linearization of the non-linear plant about closed-loop acceptable outputs. It is shown that the control achieves the position tracking control.
Editor(es) European Control Conference 2007, July 2-5, 2007, Kos, Greece
Fecha 2007-07-02
Identificador MADDcCh2007
bibliuned:667
Publicado en la Revista European Control Conference 2007, July 2-5, 2007, Kos, Greece
Idioma eng
Versión de la publicación publishedVersion
Tipo de recurso Article
Derechos de acceso y licencia http://creativecommons.org/licenses/by-nc-nd/4.0
info:eu-repo/semantics/openAccess
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Creado: Fri, 16 Nov 2007, 13:26:35 CET