DocumentCode
307143
Title
Avoiding saturation by trajectory reparameterization
Author
Pappas, George J.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Volume
1
fYear
1996
fDate
11-13 Dec 1996
Firstpage
76
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.574257
Filename
574257
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