Robust trajectory tracking for a feedback linearizable nonlinear system. Issue 18 (2016)

• Record Type: Journal Article
• Authors: Turetsky, Vladimir
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 18(2016)
• Page Start: 540
• Page End: 545
• Publication Date: 2016
• Subjects: nonlinear system -- feedback linearization -- tracking problem; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.10.221
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: For a nonlinear system, affine in the control and in the disturbance, a generalized tracking problem is considered. The prescribed trajectory and prescribed discrete points should be tracked robustly with respect to a disturbance bounded in L 2 It is assumed that the system has the full relative degree both with respect to the control and to the disturbance. Once the system is feedback linearized, the previous results on a robust tracking for a linear system are applied. The tracking condition is formulated in terms of an original system. Illustrative examples are presented.