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A LMI approach to feedback path control for an articulated mining vehicle
| Content Provider | Semantic Scholar |
|---|---|
| Author | Bigras, Pascal Petrov, Plamen Wong, Tony |
| Copyright Year | 2002 |
| Abstract | — This paper proposes a feedback path controller for an articulated (LHD) mining vehicle. First, we develop a kinematic model of the vehicle in error coordinates expressed in a moving reference frame, which is partially linked to the vehicle. We give a change of coordinates and input combined with a new variable instead of the time-index that transform the original system into a form that can be viewed as a nonlinear time-invariant system. The nonlinear terms in system can be transformed in linear s-variant one by using mean values theorem. Subsequently, linear control feedback is applied to the full nonlinear system and local general stability of the closed-loop system is achieved by using Linear Matrix Inequality (LMI) approach. Simulation results illustrate the effectiveness of the proposed controller. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://www.etsmtl.ca/ETS/media/ImagesETS/Labo/LIVIA/Publications/2002/171P_Bigras.pdf |
| Alternate Webpage(s) | http://www.livia.etsmtl.ca/publications/2002/171P_Bigras.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
