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Trajectory linearization control (TLC) is a nonlinear control design method, which combines an open-loop nonlinear dynamic inversion and a linear time-varying feedback stabilization. Singular perturbation theory has been applied in TLC applications to simplify the design procedure. In this paper, TLC design for a general nonlinear system with singular perturbation is illustrated. The stability of...
Trajectory linearization control (TLC) is a nonlinear control design method, which combines an open-loop nonlinear dynamic inversion and a linear time-varying feedback stabilization. TLC achieves exponential stability along the nominal trajectory, therefore it provides robust stability and performance. In this paper, stability analysis of TLC with regular perturbation is presented. By integrating...
In this paper, an integrated navigation and control for omni-directional mobile robot is developed. Both control and navigation algorithms are based on trajectory linearization. The robot control is based on trajectory linearization control (TLC), in which an open-loop kinematic inversion and a closed-loop linear time varying (LTV) stabilizer are combined together to provide robust and accurate trajectory...
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