Path-following for a class of nonlinear systems with unstable zero dynamics

被引：5

作者：

Dacic, DB ^{[1
]}

Subbotin, MV ^{[1
]}

Kokotovic, PV ^{[1
]}

机构：

[1] Univ Calif Santa Barbara, Dept Elect & Comp Engn, Ctr Control Engn & Computat, Santa Barbara, CA 93106 USA

来源：

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年

关键词：

D O I：

10.1109/CDC.2004.1429582

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 practical path-following problem formulated in this paper, it is required that the error between the system output and tire desired geometric path he less then any prespecified constant. If in a nonlinear MIMO system the output derivatives do not enter tire zero dynamics, a geometric condition on tire path is given under which a solution to this problem exists. The solution is obtained by combining input-to-state stability and switched-system methodology.

引用

页码：4915 / 4920

页数：6

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