Control Effort Reduction in Tracking Feedback Laws |
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| Authors: | Dacic D B Subbotin M V Kokotovic P V |
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| Affiliation: | Dept. of Electr. & Electron. Eng., Univ. of Melbourne, Vic.; |
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| Abstract: | 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. We illustrate it on a realistic hovercraft model, and compare the resulting control effort with control efforts of other path-following and tracking algorithms |
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