Path-following for nonminimum phase systems removes performance limitations

IEEE Transactions on Automatic Control

Volumn 50, Issue 2, 2005, Pages 234-239

  Aguiar, A Pedro ^a   Hespanha, João P ^a   Kokotović, Petar V ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

Cheap control; Nonminimum phase systems; Path following; Reference tracking

Indexed keywords

CONVERGENCE OF NUMERICAL METHODS; MATRIX ALGEBRA; MOTION PLANNING; OPTIMAL CONTROL SYSTEMS; RICCATI EQUATIONS; VECTORS;

CHEAP CONTROL; NONMINIMUM PHASE SYSTEMS; PATH-FOLLOWING; REFERENCE-TRACKING;

CONTROL SYSTEM SYNTHESIS;

EID: 14644392843     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2004.841924     Document Type: Article

References (23)

1. H. Kwakernaak and R. Sivan, "The maximal achievable accuracy of linear Optimal regulators and linear optimal filters," IEEE Trans. Autom. Control, vol. AC-17, no. 1, pp. 79-86, Feb. 1972.
2. B. Francis, "The optimal linear-quadratic time-invariant regulator with cheap control," IEEE Trans. Autom. Control, vol. AC-24, no. 4, pp. 616-621, Aug. 1979.
3. R. H. Middleton, "Trade-offs in linear control systems design," Automatica, vol. 27, no. 2, pp. 281-292, Mar. 1991.
4. L. Qiu and E. J. Davison, "Performance limitations of nonminimum phase systems in the servomechanism problem," Automatica, vol. 29, pp. 337-349, 1993.
5. M. M. Seron, J. H. Braslavsky, P. V. Kokotović, and D. Q. Mayne, "Feedback limitations in nonlinear systems: From bode integrals to cheap control," IEEE Trans. Autom. Control, vol. 44, no. 4, pp. 829-833, Apr. 1999.
6. W. Su, L. Qiu, and J. Chen, "Fundamental performance limitations in tracking sinusoidal signals," IEEE Trans. Autom. Control, vol. 48, no. 8, pp. 1371-1380, Aug. 2003.
7. M. Fliess, H. Sira-Ramírez, and R. Marquez, "Regulation of nonminimum phase outputs: A flatness based approach," in Perspectives in Control-Theory and Applications: A Tribute to loan Doré Landau, D. Normand-Cyrot, Ed. London, U.K.: Springer-Verlag, 1998, pp. 143-164.
8. M. Fliess and R. Marquez, "Continuous-time linear predictive control and flatness: A module-theoretic setting with examples," Int. J. Control, vol. 73, no. 7, pp. 606-623, 2000.
9. R. Skjetne, T. I. Fossen, and P. Kokotović, "Robust output maneuvering for a class of nonlinear systems," Automatica, vol. 40, no. 3, pp. 373-383, 2004.
10. J. Hauser and R. Hindman, "Maneuver regulation from trajectory tracking: Feedback linearizable systems," in Proc. IFAC Symp. Non-linear Control Systems Design, Lake Tahoe, CA, 1995, pp. 595-600.
11. S. Al-Hiddabi and N. McClamroch, "Tracking and maneuver regulation control for nonlinear nonminimum phase systems: Application to flight control," IEEE Trans. Control Syst. Technol., vol. 10, no. 6, pp. 780-792, Jun. 2002.
12. A. P. Aguiar and J. P. Hespanha, "Logic-based switching control for trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty," presented at the 2004 Amer. Control Conf., Boston, MA, Jun. 2004.
13. A. P. Aguiar, D. B. Dačić, J. P. Hespanha, and P. Kokotović, "Path-following or reference-tracking? An answer relaxing the limits to performance," presented at the 5th IFAC /EURON Symp. Intelligent Autonomous Vehicles, Lisbon, Portugal, Jul. 2004.
14. E. J. Davison, "The robust control of a servomechanism problem for linear time-invariant multivariable systems," IEEE Trans. Autom. Control, vol. AC-21, no. 1, pp. 25-34, Feb. 1976.
15. B. Francis, "The linear multivariable regulator problem," SIAM J. Control Optim., vol. 15, no. 3, pp. 486-505, May 1977.
16. E. J. Davison and B. Scherzinger, "Perfect control of the robust servo-mechanism problem," IEEE Trans. Autom. Control, vol. AC-32, no. 8, pp. 689-702, Aug. 1987.
17. B. Francis and W. Wonham, "The internal model principle of control theory," Automatica, vol. 12, no. 5, pp. 457-465, 1976.
18. J. Chen, L. Qiu, and O: Toker, "Limitations on maximal tracking accuracy," IEEE Trans. Autom. Control, vol. 45, no. 2, pp. 326-331, Feb. 2000.
19. A. Woodyatt, M. Seron, J. Freudenberg, and R. Middleton, "Cheap control tracking performance for nonright-invertible systems," Int. J. Robust Nonlinear Control, vol. 12, no. 15, pp. 1253-1273, Dec. 2002.
20. J. H. Braslavsky, R. Middleton, and J. Freudenberg, "Cheap control performance of a class of nonright-invertible nonlinear systems," IEEE Trans. Autom. Control, vol. 47, no. 8, pp. 1314-1319, Aug. 2002.
21. J. Chen, S. Hara, and G. Chen, "Best tracking and regulation performance under control energy constraint," IEEE Trans. Autom. Control, vol. 48, no. 8, pp. 1320-1336, Aug. 2003.
22. M. Hautus, Linear Matrix Equations With Applications to the Regulator Problem. ser. Outils and Modéles Mathématique pour l'Automatique, I. D. Landau, Ed. Paris, France: CNRS, 1983, pp. 399-412.
23. A. Isidori and C. I. Byrnes, "Output regulation of nonlinear systems," IEEE Trans. Autom. Control, vol. 35, no. 2, pp. 131-140, Feb. 1990.