Path Following for Nonlinear Systems With Unstable Zero Dynamics: An Averaging Solution

被引：7

作者：

Dacic, Dragan B. ^{[1
]}

Nesic, Dragan ^{[1
]}

Teel, Andrew R. ^{[2
]}

Wang, Wei ^{[1
]}

机构：

[1] Univ Melbourne, Dept Elect & Elect Engn, Melbourne, Vic 3010, Australia

[2] Univ Calif Santa Barbara, Dept Elect & Comp Engn, Santa Barbara, CA 93106 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2011年 / 56卷 / 04期

基金：

澳大利亚研究理事会;

关键词：

Averaging; input-to-state stability; non-minimum zero dynamics; NONMINIMUM-PHASE SYSTEMS; MANEUVER REGULATION; TRACKING;

D O I：

10.1109/TAC.2011.2105130

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：880 / 886

页数：7

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