Title :
On Limitations to the Achievable Path Tracking Performance for Linear Multivariable Plants
Author :
Miller, Daniel E. ; Middleton, Richard H.
Author_Institution :
Dept. of Elect, & Comp. Eng., Waterloo Univ., Ont.
Abstract :
In this paper we consider a problem termed "path tracking". This differs from the common problem of reference tracking, in that here we can adjust the speed at which we traverse the reference trajectory. We are interested in ascertaining the degree to which we can track a given trajectory, and in characterizing the class of paths for which we can generate an appropriate temporal specification so that the path can be tracked arbitrarily well in an L2 sense
Keywords :
linear systems; multivariable control systems; position control; tracking; linear multivariable plants; nonminimum phase systems; path tracking performance; reference tracking; reference trajectory; temporal specification; Australia; Character generation; Control systems; Cost function; Marine vehicles; Nonlinear dynamical systems; Robots; Timing; Trajectory; USA Councils; L2 performance limitations; nonminimum phase systems; path tracking;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377640
