Title :
Curve following for nonlinear dynamic systems subject to control constraints
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Sweden
Abstract :
A constructive method for investigating if a given nonlinear dynamic system subject to control constraints can be controlled to follow a desired curve in the state or output space is presented. If the method gives an affirmative answer we can then compute a closed form expression of the corresponding state feedback control law. Specifying a family of parametrized curves, approximations of reachable sets can also be computed
Keywords :
controllability; nonlinear dynamical systems; state feedback; state-space methods; tracking; control constraints; curve following; nonlinear dynamic systems; output space; quantifier elimination; reachability; state feedback; state space; tracking; Control systems; Ear; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Polynomials; Programmable control; State feedback; Trajectory; World Wide Web;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610903
