DocumentCode
1422960
Title
Path Following for Nonlinear Systems With Unstable Zero Dynamics: An Averaging Solution
Author
Dacic, Dragan B. ; Nesic, Dragan ; Teel, Andrew R. ; Wang, Wei
Author_Institution
Electr. & Elec tronic Eng. Dept., Univ. of Melbourne, Melbourne, VIC, Australia
Volume
56
Issue
4
fYear
2011
fDate
4/1/2011 12:00:00 AM
Firstpage
880
Lastpage
886
Abstract
We consider a path-following problem in which the goal is to ensure that the error between the system output and the geometric path is asymptotically less than a prespecified constant, while guaranteeing a forward motion along the path and boundedness of all states. Comparing with the results on this problem, we exploit averaging techniques to develop an alternative simpler solution for a class of nonlinear systems and for paths satisfying a certain geometric condition.
Keywords
nonlinear systems; geometric path; nonlinear system; path following problem; unstable zero dynamics; Dynamics; Feedback control; Linear systems; Nonlinear systems; Tracking; Trajectory; Averaging; input-to-state stability; non-minimum zero dynamics;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2011.2105130
Filename
5685260
Link To Document