Title :
Preview-based stable-inversion for output tracking
Author :
Zou, Qingze ; Devasia, Santosh
Author_Institution :
Dept. of Mech. Eng., Utah Univ., Salt Lake City, UT, USA
Abstract :
Stable inversion techniques can be used to achieve high-accuracy output tracking. However, for nonminimum phase systems, the inverse is noncausal-hence the inverse has to be precomputed using a pre-specified desired-output trajectory. This requirement for pre-specification of the desired output restricts the use of inversion-based approaches to trajectory planning problems (for nonminimum phase systems). In the article, it is shown that preview information of the desired output can be used to achieve online inversion-based output tracking of linear systems. The amount of preview-time needed is quantified in terms of the tracking error and the internal dynamics of the system (zeros of the system). The methodology is applied to the online output tracking of a flexible structure and experimental results are presented
Keywords :
dynamics; flexible structures; linear systems; poles and zeros; predictive control; stability; tracking; flexible structure; internal dynamics; nonminimum phase systems; output tracking; pre-specified desired-output trajectory; present; preview information; preview-based stable-inversion; tracking error; trajectory planning problems; Aircraft; Collision mitigation; Flexible structures; Linear systems; Mechanical engineering; NASA; Nonlinear dynamical systems; Nonlinear equations; Regulators; Trajectory;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.782426
