Path-following for nonminimum phase systems removes performance limitations
| Autor: | Joao P. Hespanha, A.P. Aguiar, Petar V. Kokotovic |
|---|---|
| Rok vydání: | 2005 |
| Předmět: |
path-following
Path following Control (management) Phase (waves) Optimal control Upper and lower bounds Computer Science Applications Tracking error Control and Systems Engineering Control theory cheap-control Path (graph theory) nonminimurn phase systems Motion planning Electrical and Electronic Engineering reference-tracking Mathematics |
| Zdroj: | Aguiar, A P; Hespanha, Joao P; & Kokotovic, P V. (2005). Path-following for nonminimum phase systems removes performance limitations. IEEE Transactions on Automatic Control, 50(2), 234-239. UC Santa Barbara: Retrieved from: http://www.escholarship.org/uc/item/3q09s48f |
| ISSN: | 0018-9286 |
| DOI: | 10.1109/tac.2004.841924 |
| Popis: | We highlight an essential difference between path-following and reference-tracking for nonminimum phase systems. It is well known that in the reference-tracking, for nonminimum phase systems, there exists a fundamental performance limitation in terms of a lower bound on the L/sub 2/-norm of the tracking error, even when the control effort is free. We show that this is not the case for the less stringent path-following problem, where the control objective is to force the output to follow a geometric path without a timing law assigned to it. Furthermore, the same is true even when an additional desired speed assignment is imposed. |
| Databáze: | OpenAIRE |
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