Bounded tracking for nonminimum phase nonlinear systems with fast zero dynamics
-
1996-12-01
Details:
-
Creators:
-
Corporate Contributors:
-
Subject/TRT Terms:
-
DOI:
-
Resource Type:
-
Corporate Publisher:
-
NTL Classification:NTL-AVIATION-Air Traffic Control
-
Abstract:A PostScript file. In this paper, tracking control laws for nonminimum phase nonlinear systems with both fast and slow, possibly unstable, zero dynamics are derived. The fast zero dynamics arise from a perturbation of a nominal system. These fast zeros can be problematic in that they may be in the right half plane and may cause large magnitude tracking control inputs. In this paper, the ideas from some recent work of Hunt, Meyer, and Su are compared with that of Devasia, Chen, and Paden on an asymptotic tracking procedure for nonminimum phase nonlinear systems. The(somewhat subtle) conditions under which the tracking control input is bounded are given as the magnitude of the perturbation of the nominal system becomes zero. Explicit bounds on the control inputs are calculated for both SISO and MIMO systems using some interesting non-standard singular perturbation techniques. The method is applied to a suite of examples, including the simplified planar dynamics of VTOL and CTOL aircraft.
-
Format:
-
Collection(s):
-
Main Document Checksum:
-
Download URL:
-
File Type: