Linear algebra based trajectory control

Abstract

In this tutorial, the main features of a new control design methodology for tracking control in nonlinear processes is summarized. The so called LAB (Linear Algebra Based) methodology was introduced by the authors more than ten years ago and it has been accepted and used by many researchers mainly due to its simplicity and easy application. Nevertheless, it is not applicable to all the tracking problems dealing with nonlinear systems. The LAB controller design procedure, both in continuous time and discrete time, is outlined. The design of the trajectory control of a mobile robot illustrates the procedure as well as its implementation. Some properties of the controlled process are discussed and the problem requirements for a successful application are pointed out. Several references allow a deeper analysis of the controlled plant features as well as its application in a variety of processes, either in robotics or in process control.