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

• Type: Article in International Conference Proceedings Book
• Date: 2005

Authors

Aguiar, AP (Author) Other; Hespanha, JP (Author) Other; Kokotovic, P (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 264-269

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

Prague, 3 July 2005 through 8 July 2005

Indexing

ISI Web of Knowledge

Scopus - 8 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6