Path-following in the presence of unstable zero dynamics: An averaging solution for nonlinear systems
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2007-01-01
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Proceedings of the ... American Control Conference. American Control Conference
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IEEE
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Electrical and Electronic Engineering
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Dacic, D. B., Nesic, D. & Teel, A. R. (2007). Path-following in the presence of unstable zero dynamics: An averaging solution for nonlinear systems. 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, pp.95-100. IEEE. https://doi.org/10.1109/ACC.2007.4282155.
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Abstract
We consider a path-following problem in which the goal is to ensure that the error between the output and the geometric path asymptotically is less than a prespecifled constant, while guaranteeing output's forward motion along the path and boundedness of all states. For a class of nonlinear systems in which the only input into unstable zero dynamics is system's output and paths satisfying certain geometric condition a solution to this problem was given in [12]. For the same class of systems but under more stringent conditions on the path geometry here we develop a simpler solution to the above problem. We assume here that the path is periodic which allows us to exploit averaging tools to construct an open-loop timeperiodic control law for the path parameter instead of a hybrid control law developed in [12].