Title :
Nonlinear non-minimum phase output tracking via output re-definition and learning control
Author :
Hu, Ai-Ping ; Sadegh, Nader
Author_Institution :
CAMotion Inc., Atlanta, GA, USA
Abstract :
A controller is developed to achieve precise tracking control of single-input single-output nonlinear non-minimum phase systems affine in the control input. The nonlinear systems considered are assumed to have uncertainties present. The developed controller makes novel use of feedback linearization, output re-definition, and repetitive learning control. Effectiveness of the controller is demonstrated experimentally on an underactuated mechanical system
Keywords :
feedback; learning systems; linearisation techniques; nonlinear systems; tracking; uncertain systems; SISO systems; feedback; linearization; nonlinear systems; nonminimum phase systems; repetitive learning control; tracking; uncertain systems; Control systems; Linear feedback control systems; Mechanical engineering; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Output feedback; Trajectory; Uncertainty;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945647
