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Published June 1995 | Published
Book Section - Chapter Open

Tracking implicit trajectories

Abstract

Output tracking of implcitly defined reference trajectories is examined. A continuous-time nonlinear dynamical system is constructed that produces explicit estimates of time-varying implicit trajectories. We prove that incorporation of this "dynamic inverter" into a tracking controller provides exponential output tracking of the implicitly defined trajectory for nonlinear control systems having vector relative degree and well-behaved internal dynanmics.

Additional Information

© 1995, IFAC. February 17, 1995. The authors are grateful to C.A. Desoer and S.M. Shahruz for their comments and advice. Presented at IFAC Symposium on Nonlinear Control System Design, Tahoe City, June 26-28, 1995.

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