Title :
Avoiding saturation by trajectory reparameterization
Author :
Pappas, George J.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
The problem of trajectory tracking in the presence of input constraints is considered. The desired trajectory is reparameterized on a slower time scale in order to avoid input saturation. Necessary conditions that the reparameterizing function must satisfy are derived. The deviation from the nominal trajectory is minimized by formulating the problem as an optimal control problem
Keywords :
MIMO systems; control nonlinearities; feedback; linearisation techniques; nonlinear control systems; optimal control; tracking; input constraints; input saturation; necessary condition; optimal control problem; trajectory reparameterization; trajectory tracking; Control systems; Disruption tolerant networking; Linear feedback control systems; Nonlinear equations; Output feedback; State feedback; Trajectory;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.574257
