Tracking and manoeuvre regulation control for nonlinear non-minimumphase systems
Al-Hiddabi, S.A.
Shen, J.
McClamroch, N.H.
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI;
This paper appears in: American Control Conference, 2000. Proceedings of the 2000
Publication Date: Sep 2000
Volume: 1,
Issue: 6
On page(s): 492-496 vol.1
Meeting Date: 06/28/2000 - 06/30/2000
Location: Chicago, IL, USA
ISBN: 0-7803-5519-9
References Cited: 12
INSPEC Accession Number: 6770062
Digital Object Identifier: 10.1109/ACC.2000.878949
Current Version Published: 2002-08-06
Abstract
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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