ピボット式一方向アクチュエータを用いた実用的なユニバーサル追従制御

原文アブストラクト

This paper addresses the problem of tracking control for robotic vehicles equipped with pivoted unidirectional actuators. Starting from a baseline robust controller that assumes unconstrained inputs, we redesign the control law to be compatible with the pivoted actuator. This is accomplished by driving the output of the pivoted actuator to a ball centered at the target input value. The guarantees for the baseline controller are recovered in a practical sense. The theory is illustrated with simulation examples.