Limits of performance in reference-tracking and path-following for nonlinear systems

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2005

Autores

Aguiar, AP (Autor) Outra; Hespanha, JP (Autor) Outra; Kokotovic, P (Autor) Outra

Ata de Conferência Internacional

Título: IFAC Proceedings Volumes (IFAC-PapersOnline)

Páginas: 264-269

16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005

Prague, 3 July 2005 through 8 July 2005

Indexação

ISI Web of Knowledge

Scopus - 8 Citações

Outras Informações

ID Authenticus: P-008-SD8

Abstract (EN): We investigate limits of performance in reference-tracking and pathfollowing and highlight an essential difference between them. For a class of nonlinear systems, we show that in reference-tracking, the smallest achievable L2 norm of the tracking error is equal to the least amount of control energy needed to stabilize the zero-dynamics of the error system. We then show that this fundamental performance limitation does not exist when the control objective is to force the output to follow a geometric path without a timing law assigned to it. This is true even when an additional desired speed assignment is required to be satisfied asymptotically or in finite time. Copyright © 2005 IFAC.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6