Skip to main content

Bounded tracking for non-minimum phase nonlinear systems with fast zero dynamics

Buy Article:

$60.90 plus tax (Refund Policy)

Abstract:

In this paper, we derive tracking control laws for non-minimum phase nonlinear systems with both fast and slow, possibly unstable, zero dynamics. The fast zero dynamics arise from a perturbation of a nominal system. These fast zeros can be problematic in that they may be in the right half plane and may cause large magnitude tracking control inputs. In this paper, we combine the ideas from some recent work of Hunt, Meyer and Su with that of Devasia, Chen and Paden on an asymptotic tracking procedure for non-minimum phase nonlinear systems. We give (somewhat subtle) conditions under which the tracking control input is bounded as the magnitude of the perturbation of the nominal system becomes zero. Explicit bounds on the control inputs are calculated for both SISO and MIMO systems using some interesting non-standard singular perturbation techniques. The method is applied to a suite of examples, including the simplified planar dynamics of VTOL and CTOL aircraft.

Document Type: Research Article

DOI: http://dx.doi.org/10.1080/002071797223352

Publication date: November 10, 1997

More about this publication?
tandf/tcon/1997/00000068/00000004/art00007
dcterms_title,dcterms_description,pub_keyword
6
5
20
40
5

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
X
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more