Title :
Control Effort Reduction in Tracking Feedback Laws
Author :
Dacic, D.B. ; Subbotin, M.V. ; Kokotovic, Petar
Author_Institution :
Dept. of Electr. & Electron. Eng., Univ. of Melbourne, Vic.
Abstract :
We develop a path-following algorithm for redesign of tracking feedback laws to reduce the control effort. Our algorithm provides a tradeoff between the control effort and the dynamic performance along the path, while maintaining the desired convergence to the path. We illustrate it on a realistic hovercraft model, and compare the resulting control effort with control efforts of other path-following and tracking algorithms
Keywords :
feedback; hovercraft; position control; control effort reduction; feedback law tracking; hovercraft model; path-following algorithm; reference tracking; Automatic control; Control systems; Convergence; Feedback; Motion control; Motion measurement; Nonlinear systems; Signal design; Control effort; path-following; reference tracking;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2006.883064
