Title :
Output tracking through singularities
Author_Institution :
Dept. of Math. & Stat., Queen´´s Univ., Kingston, Ont., Canada
Abstract :
Output tracking for nonlinear systems is complicated by the existence of "singular submanifolds". These are surfaces on which the decoupling matrix loses rank. To provide an additional control action we identify a class of smooth vector fields whose integral curves can be incrementally tracked using rapidly switched piecewise constant controls. These discontinuous controllers are applied to sliding mode control.
Keywords :
approximation theory; nonlinear systems; piecewise constant techniques; tracking; variable structure systems; control action; decoupling matrix; discontinuous controllers; integral curves; nonlinear systems; output tracking; singular submanifolds; singularities; sliding mode control; smooth vector fields; switched piecewise constant controls; Algebra; Control systems; Councils; Linear systems; Mathematics; Motion control; Nonlinear systems; Sliding mode control; Statistics; Trajectory;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184964
