Unstable, nonminimum phase, nonlinear tracking by trajectory linearization control | IEEE Conference Publication | IEEE Xplore

Unstable, nonminimum phase, nonlinear tracking by trajectory linearization control


Abstract:

We present a design of a tracking controller for an unstable, nonminimum phase nonlinear plant using trajectory linearization method. The controller consists of two parts...Show More

Abstract:

We present a design of a tracking controller for an unstable, nonminimum phase nonlinear plant using trajectory linearization method. The controller consists of two parts: a dynamic inverse and a tracking error stabilizing control law. The nominal control computed by nonlinear pseudo-inverse using nonlinear coordinate transformation and backstepping stabilization, and trajectory stabilization is achieved using linear time-varying (LTV) PD-eigenstructure assignment. Simulation case studies show that significant improvement in tracking performance, robustness and disturbance rejection over the classical and modern gain scheduled controllers can be achieved using rational combinations of nonlinear and LTV control techniques.
Date of Conference: 02-04 September 2004
Date Added to IEEE Xplore: 31 January 2005
Print ISBN:0-7803-8633-7
Conference Location: Taipei, Taiwan

References

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