Abstract
This paper deals with a new inversion technique for nonlinear control systems called the Trajectory Pattern Method (TPM). The objective of this study is to lay out the foundation for the TPM and generalize the open loop results already obtained. Furthermore, a feedback control law based on TPM which allows us to obtain tracking is proposed. The methodology proposed is applied to attain bounded solutions for inverse of non-minimum phase systems; moreover, under some mild assumptions we are able to get output tracking. We also show how the trajectory pattern method is utilized to get point to point motion for nonholonomic control systems. Finally an adaptive based uncertainty scheme is discussed.
| Original language | English |
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| Pages (from-to) | 2382-2387 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| State | Published - 1994 |
| Externally published | Yes |
| Event | Proceedings of the 2nd IEEE International Symposium on Requirements Engineering - York, Engl Duration: 27 Mar 1995 → 29 Mar 1995 |