Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Inversion-Based Robust Output Tracking of Differentially Flat Nonlinear Systems

  • Joo, Jin-Man (Dept. of Electrical and Electronic Engineer-ing, Yonsei university) ;
  • Park, in-Bae (Dept. of Electrical and Electronic Engineer-ing, Yonsei University) ;
  • Park, Yoon-Ho (Dept. of Electronic Engineering, Kyonggi University)
  • Published : 2001.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this study, we propose a two degree of freedom robust output tracking control method for a class of nonlinear system. We consider hyperbolically nonminimum phase single-input single-output uncertain nonlinear systems. We also consider the case that the nominal input-state equation is differentially flat. Nominal stable state trajectory is obtained in the flat output space via the flat output. Nominal feedforward control input is also computed from the nominal state trajectory. Due to the nature of the method, the generated flat output trajectory and control input are noncausal. Robust feedback control is designed to stabilize the systems around the nominal trajectory. A numerical example is given is given to demonstrate that robust tracking is achieved.

Keywords

References

  1. IEEE Trans. Automat. Contr. v.41 no.7 Nonlinear inversion-based output tracking S. Devasia;D. Chen;B. Paden
  2. IEEE Trans. Automat. Contr. v.41 no.2 A normal form approach to approximate input-output linearization for maximum phase nonlinear SISO systems F. J. Doyle, Ⅲ;F. Allgower;M. Morari
  3. IEEE Trans. Automat. Contr. v.35 no.9 Generalized controller canonical forms for linear and nonlinear dynamics M. Fliess
  4. Int. J. Contr. v.57 no.5 Tracking nonlinear nonminimum phase systems using sliding control S. Gopalswamy;J. K. Hedrick
  5. IEEE Trans. Automat. Contr. v.35 Output regulation of nonlinear system A. Isidori;C. I. Byrnes
  6. Automatica v.32 no.1 A different look at output tracking: Control of a VTOL aircraft P. Martin;S. Devasia;B. Paden
  7. Ph.D. thesis, California Institute of Technology Trajectory Generation for Nonlinear Control Systems M. J. van Nieuwstadt
  8. Nonlinear Dynamical Control Systems H. Nijmeijer;A van der Schaft
  9. Ph.D. thesis, California Institute of Technology Differentially Flat Nonlinear Control Systems M. Rathinam
  10. Ph.D. thesis, Univesity of Waterloo Absolute Equivalence and its Applications to Control Theory W. M. Sluis
  11. Syst. & Contr. Lett. v.13 On dynamic feed-back linearization B. Charlet;J. Levine;R. Marino
  12. Syst. & Contr. Lett. v.29 A bound on the number of integrators needed to linearize a control system W. M. Sluis;D. M. Tilbury