Robust output maneuvering for a class of nonlinear systems |
| |
Authors: | Roger Skjetne [Author Vitae] Thor I Fossen [Author Vitae] Petar V Kokotovi? [Author Vitae] |
| |
Affiliation: | a Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), O.S. Bragstadspl. 2D, Trondheim NO-7491, Norway b Centre for Ships and Ocean Structures (CeSOS), Norwegian University of Science and Technology (NTNU), Trondheim NO-7491, Norway c Center for Control Engineering and Computation (CCEC), University of California, Santa Barbara (UCSB), CA 93106, USA |
| |
Abstract: | The output maneuvering problem involves two tasks. The first, called the geometric task, is to force the system output to converge to a desired path parametrized by a continuous scalar variable θ. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. This dynamic behavior is further specified via a time, speed, or acceleration assignment. While the main concern is to satisfy the geometric task, the dynamic task ensures that the system output follows the path with the desired speed. A robust recursive design technique is developed for uncertain nonlinear plants in vectorial strict feedback form. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the speed assignment. The design procedure is illustrated through several examples. |
| |
Keywords: | Output maneuvering Path following Tracking Backstepping Robust nonlinear control Input-to-state stability |
本文献已被 ScienceDirect 等数据库收录! |
|