Path-following for nonlinear systems with unstable zero dynamics

被引：21
|
作者：
Dacic, Dragan B. [1 ]
Nesic, Dragan
Kokotovic, Petar V.
机构：
[1] Univ Melbourne, Dept Elect & Elect Engn, Parkville, Vic 3010, Australia
[2] Univ Calif Santa Barbara, Dept Elect & Comp Engn, Santa Barbara, CA 93106 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2007年 / 52卷 / 03期
基金：
美国国家科学基金会;
关键词：
hybrid systems; path-following; reference tracking; unstable zero dynamics;
D O I：
10.1109/TAC.2006.890484
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the path-following problem formulated in this note, it is required that the error between the system output and the desired geometric path eventually be less than any prespecified constant. If in a nonlinear multiple-input-multiple-output (MIMO) system the output derivatives do not enter into its zero dynamics, a condition relating path geometry and stabilizability of the zero dynamics is given under which a solution to this problem exists. The solution is obtained by combining input-to-state stability and hybrid system methodologies.
引用
收藏
页码：481 / 487
页数：7
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