DocumentCode
391373
Title
Output tracking through singularities
Author
Hirschorn, R.M.
Author_Institution
Dept. of Math. & Stat., Queen´´s Univ., Kingston, Ont., Canada
Volume
4
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
3843
Abstract
Output tracking for nonlinear systems is complicated by the existence of "singular submanifolds". These are surfaces on which the decoupling matrix loses rank. To provide an additional control action we identify a class of smooth vector fields whose integral curves can be incrementally tracked using rapidly switched piecewise constant controls. These discontinuous controllers are applied to sliding mode control.
Keywords
approximation theory; nonlinear systems; piecewise constant techniques; tracking; variable structure systems; control action; decoupling matrix; discontinuous controllers; integral curves; nonlinear systems; output tracking; singular submanifolds; singularities; sliding mode control; smooth vector fields; switched piecewise constant controls; Algebra; Control systems; Councils; Linear systems; Mathematics; Motion control; Nonlinear systems; Sliding mode control; Statistics; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184964
Filename
1184964
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