Time Varying Deadbeat Control Of High Order Chained Systems |
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Authors: | Tsutomu Mita Taek Kun Nam |
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Abstract: | A new digital control method for a time varying sampled data system called a time varying deadbeat control is proposed for the control of high order nonholonomic chained systems with drift terms. This control law has the potential to avoid excessive overshoot and prevent trajectories from getting close to the singular manifolds of the transformation needed to obtain the chained forms. |
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Keywords: | Nonholonomic system multirate digital control time varying deadbeat control |
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