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On output tracking for nonlinear systems with singular points

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2 Author(s)
Ghanadan, R. ; Dept. of Electr. & Comput. Eng., California Univ., Santa Barbara, CA, USA ; Blankenship, G.L.

In this paper we design a continuous control law that achieves approximate output tracking of a large class of reference signals for nonlinear systems containing singular points in their state trajectory. Our approach is based on exact and approximate input-output linearization techniques and uses a switching control law which is smooth and guarantees all the states remain bounded. An example is provided to illustrate how these results can be used to globally track a reference signal with approximate tracking through singular points.

Published in:

American Control Conference, 1994  (Volume:3 )

Date of Conference:

29 June-1 July 1994