DocumentCode
2013594
Title
Switching through singularities
Author
Tomlin, C.J. ; Sastry, S.S.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Volume
1
fYear
1997
fDate
10-12 Dec 1997
Firstpage
1
Abstract
Asymptotic tracking is studied for systems which are not regular, that is the relative degree is not well defined. Hence the control law derived from exact input-output linearization has singularities in the state space. We propose a tracking control law which switches between an approximate tracking law close to the singularities, and an exact tracking law away from the singularities, and we study the applicability of this law based on the behavior of the system´s zero dynamics at the switching boundary. The ball and beam example is used to motivate the study
Keywords
dynamics; linearisation techniques; state-space methods; tracking; I/O linearization; approximate tracking law; asymptotic tracking; ball-and-beam system; exact input-output linearization; state-space singularities; tracking control law; Acceleration; Adaptive control; Control systems; Linear approximation; NASA; Nonlinear control systems; Nonlinear systems; State-space methods; Switches; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.650578
Filename
650578
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