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Path-following in the Presence of Unstable Zero Dynamics: an Averaging Solution for Nonlinear Systems

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3 Author(s)
Dragan B. Dacic ; Electrical and Electronic Engineering Department, The University of Melbourne, Victoria, 3010, Australia. ; Dragan Nesic ; Andrew R. Teel

We consider a path-following problem in which the goal is to ensure that the error between the output and the geometric path asymptotically is less than a prespecified constant, while guaranteeing output's forward motion along the path and boundedness of all states. For a class of nonlinear systems in which the only input into unstable zero dynamics is system's output and paths satisfying certain geometric condition a solution to this problem was given in [12]. For the same class of systems but under more stringent conditions on the path geometry here we develop a simpler solution to the above problem. We assume here that the path is periodic which allows us to exploit averaging tools to construct an open-loop time- periodic control law for the path parameter instead of a hybrid control law developed in [12].

Published in:

2007 American Control Conference

Date of Conference:

9-13 July 2007