Sciweavers

Share
AUTOMATICA
2008

Performance limitations in reference tracking and path following for nonlinear systems

11 years 1 months ago
Performance limitations in reference tracking and path following for nonlinear systems
We investigate limits of performance in reference-tracking and path-following and highlight an essential difference between them. For a class of nonlinear systems, we show that in reference-tracking, the smallest achievable L2 norm of the tracking error is equal to the least amount of control energy needed to stabilize the zero-dynamics of the error system. We then show that this fundamental performance limitation does not exist when the control objective is to force the output to follow a geometric path without a timing law assigned to it. This is true even when an additional desired speed assignment is required to be satisfied asymptotically or in finite time. Key words: Limits of performance, non-minimum phase nonlinear systems, path-following, reference-tracking, cheap-control.
A. Pedro Aguiar, João Pedro Hespanha, Petar
Added 08 Dec 2010
Updated 08 Dec 2010
Type Journal
Year 2008
Where AUTOMATICA
Authors A. Pedro Aguiar, João Pedro Hespanha, Petar V. Kokotovic
Comments (0)
books