Path-following Approach to Control Effort Reduction of Tracking Feedback Laws

Autor:	Petar V. Kokotovic, M.V. Subbotin, D.B. Dacic
Rok vydání:	2006
Předmět:	Engineering business.industry Control (management) Control engineering Motion control Vehicle dynamics Reduction (complexity) Control theory Law Control system Convergence (routing) Path (graph theory) Robot business
Zdroj:	Proceedings of the 44th IEEE Conference on Decision and Control.
DOI:	10.1109/cdc.2005.1583336
Popis:	We develop a path-following algorithm for redesign of tracking feedback laws to reduce the control effort. Our algorithm provides a tradeoff between the control effort and the dynamic performance along the path, while maintaining the desired convergence to the path. It is applicable to feedback linearizable systems with stable zero dynamics. We illustrate it on a realistic hovercraft model, and compare the resulting control effort with control efforts of other path-following and tracking algorithms.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::8e7730fb0ac8d207a411704407f4ff6a https://doi.org/10.1109/cdc.2005.1583336 Zobrazit plný text záznamu