Trajectory tracking control with convergence time assessment

Abstract

This paper presents a general procedure for state feedback trajectory tracking control design for a class of nonlinear system that combines smoothness, robustness and convergence time assessment and reduction to a prescribed invariant residual set. In particular, it is well adapted to deal with the trajectory tracking control of a half-car kinematic model since only one simple design condition provides the control law that imposes to the closed-loop system, asymptotic tracking of a given trajectory with a prescribed yaw angle orientation. Norm bounded additive matched disturbances are considered in order to establish a trade-off between robustness and speed of convergence. Two examples and a case study are presented and discussed in order to clearly illustrate and compare the theoretical results.

Keywords:

• Control Lyapunov function
• sliding mode control
• half-car steering control
• trajectory tracking control

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work was supported by the National Council for Scientific and Technological Development (CNPq/Brazil) [grant number 302013/2019-9], and the São Paulo Research Foundation (Fapesp/Brazil) [grant number 2020/07574-6].