Abstract
In many control applications, we are interested in accurate trajectory tracking. This is especially true for cases in which exact analytic solutions are not available because initial states are not consistent with the desired state or output trajectories or because parameters are significantly uncertain. In these cases, control strategies can be derived on the basis of a verified sensitivity analysis. For that purpose, we have to define suitable performance indices which describe the deviation between the actual and desired trajectories. In this paper, an overview of different sensitivity-based control procedures is given. These procedures include tracking control for systems with bounded parameter uncertainties as well as measurement errors described by interval variables. Moreover, we present a first verified approach to automatic path following by means of an automatic modification of desired output trajectories. This procedure is necessary in cases in which exact trajectory tracking is not possible due to the violation of control constraints.
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The authors have presented the results of this paper during the SCAN 2010 conference in Lyon, September 2010.
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Rauh, A., Kersten, J., Auer, E. et al. Sensitivity-based feedforward and feedback control for uncertain systems. Computing 94, 357–367 (2012). https://doi.org/10.1007/s00607-011-0171-y
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DOI: https://doi.org/10.1007/s00607-011-0171-y