On a trajectory tracking problem for nonlinear control systems

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

1 Scopus Citations
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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages2435-2440
Volume3
ISBN (Print)780304500
Publication statusPublished - 1991
Externally publishedYes

Publication series

Name
Volume3
ISSN (Electronic)0191-2216

Conference

TitleProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
CityBrighton, Engl
Period11 - 13 December 1991

Abstract

An approach for studying typical point-to-point trajectory tracking problems for nonlinear control systems that possess a global linearization is proposed. The trajectory constraints include both the inequality and the equality (interpolatory) types. For purposes of theoretical analysis, system-behavior understanding, and controller design, a minimum control-energy criterion for the linearized system is used. Under this optimality criterion, a characterization result for describing all the possible solutions of such trajectory tracking problems is established. Moreover, the general structure is found in explicit closed-form for these solutions. The research is motivated by a specific example of robotic trajectory planning. Some computer simulation graphs on the robotic trajectory planning problem are included.

Citation Format(s)

On a trajectory tracking problem for nonlinear control systems. / Chen, Guanrong.
Proceedings of the IEEE Conference on Decision and Control. Vol. 3 Publ by IEEE, 1991. p. 2435-2440.

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review