By Topic

Path-Following for Nonlinear Systems With Unstable Zero Dynamics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Dragan B. Dacic ; Electr. & Electron. Eng. Dept., Univ. of Melbourne, Vic. ; Dragan Nesic ; Petar V. Kokotovic

In the path-following problem formulated in this note, it is required that the error between the system output and the desired geometric path eventually be less than any prespecified constant. If in a nonlinear multiple-input-multiple-output (MIMO) system the output derivatives do not enter into its zero dynamics, a condition relating path geometry and stabilizability of the zero dynamics is given under which a solution to this problem exists. The solution is obtained by combining input-to-state stability and hybrid system methodologies

Published in:

IEEE Transactions on Automatic Control  (Volume:52 ,  Issue: 3 )