Performance limitations in reference tracking and path following for nonlinear systems

• Type: Article in International Scientific Journal
• Date: 2008

Authors

Pedro P Aguiar (Author) Other; Joao P Hespanha (Author) Other; Petar V Kokotovic (Author) Other

Journal

Title: Automatica

Vol. 44

Pages: 598-610

ISSN: 0005-1098

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 93 Citations

Scopus - 118 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-004-107

DOI: 10.1016/j.automatica.2007.06.030

Abstract (EN): We investigate limits of performance in reference tracking and path following and highlight an essential difference between them. For a class of nonlinear systems, we show that in reference tracking, the smallest achievable L-2 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. (C) 2007 Published by Elsevier Ltd.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 13