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
收藏
页码：880 / 886
页数：7
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