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dc.contributor.authorCayero Becerra, Julián Francisco
dc.contributor.authorCugueró Escofet, Josep
dc.contributor.authorMorcego Seix, Bernardo
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2014-12-11T13:34:53Z
dc.date.available2014-12-11T13:34:53Z
dc.date.created2014
dc.date.issued2014
dc.identifier.citationCayero, J.; Pep Cugueró Escofet; Morcego, B. Backstepping with virtual filtered command: Application to a 2D autonomous Vehicle. A: euRathlon-ARCAS Workshop and Summer School on Field Robotics. "Proceedings of the 2014 euRathlon-ARCAS Workshop and Summer School on Field Robotics,". Sevilla: 2014.
dc.identifier.urihttp://hdl.handle.net/2117/25003
dc.description.abstractThrough this work a deep understanding of the backstepping control technique is sought when applied over non-affine systems. It is shown that in this case appears the necessity to bound the value of internal states and that a modification over standard backstepping is mandatory. The principal goal of this study is to evaluate the effects of finite frequency filters, and the effects of saturation affecting intermediate states and control actions, in the tracking performance when using the command filtered backstepping. Some relations that bind the controller gains to maintain performance appear naturally. Finally simulations over a 2D steering robot model are given to illustrate the found results.
dc.language.isoeng
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshVirtual computer systems
dc.subject.lcshAutomatic control
dc.titleBackstepping with virtual filtered command: Application to a 2D autonomous Vehicle
dc.typeConference report
dc.subject.lemacSistemes virtuals (Informàtica)
dc.subject.lemacControl automàtic
dc.contributor.groupUniversitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
drac.iddocument15272227
dc.description.versionPostprint (author’s final draft)
upcommons.citation.authorCayero, J.; Pep Cugueró Escofet; Morcego, B.
upcommons.citation.contributoreuRathlon-ARCAS Workshop and Summer School on Field Robotics
upcommons.citation.pubplaceSevilla
upcommons.citation.publishedtrue
upcommons.citation.publicationNameProceedings of the 2014 euRathlon-ARCAS Workshop and Summer School on Field Robotics,


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