Output stabilization and maneuver regulation: A geometric approach |
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Authors: | Christopher Nielsen Manfredi Maggiore |
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Affiliation: | Department of Electrical and Computer Engineering, 10 King's College Road, Toronto, Ont., Canada M5S 3G4 |
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Abstract: | This paper investigates maneuver regulation for single-input control-affine systems from a geometric perspective. The maneuver regulation problem is converted to output stabilization and necessary and sufficient conditions are provided to solve the latter problem by feedback linearizing the dynamics transverse to a suitable embedded submanifold of the state space. When specialized to the linear time invariant setting, this work recovers well-known results on output stabilization. |
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Keywords: | Maneuver regulation Path following Feedback linearization Zero dynamics Non-square systems Output stabilization |
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