Tracking and manoeuvre regulation control for nonlinear non-minimumphase systems
Al-Hiddabi, S.A.; Shen, J.; McClamroch, N.H.
American Control Conference, 2000. Proceedings of the 2000
Volume 1, Issue 6, Sep 2000 Page(s):492 - 496 vol.1
Digital Object Identifier   10.1109/ACC.2000.878949
Summary:In this paper we study the problem of converting a tracking controller to a manoeuvre regulation controller for a nonlinear nonminimum phase control system. First, a tracking controller, consisting of feedforward and static state feedback, is designed to guarantee uniform asymptotic trajectory tracking. The feedforward is determined by solving a stable noncausal inversion problem. Constant feedback gains are determined based on LQR optimization and assumed satisfaction of a robustness inequality. A manoeuvre regulation controller is obtained from the tracking controller by introducing a suitable state projection that is related to the LQR feedback gains. Properties of the closed loop, including local asymptotic convergence of the transverse errors, are developed

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