A robust algorithm for model-following control of under-actuated systems, and its application to a non-holonomic robot and an aircraft

摘要

In this paper, we present an algorithm for model-following control of under-actuated systems. To make the algorithm robust, we try to suppress computation errors from approximations which are often encountered in the cases of applying the existing algorithms to the under-actuated systems. In this view, we present an algorithm without any kinds of approximations, even in the cases of under-actuated systems. Finally, we check the examples in which the proposed algorithm is applied to a non-holonomic robot and an aircraft.