Discrete minimum time tracking problem for a chain of three integrators with bounded input

被引：18

作者：

Zanasi, R ^{[1
]}

Morselli, R ^{[1
]}

机构：

[1] Univ Modena, Dipartimento Ingn Informaz, I-41100 Modena, Italy

来源：

AUTOMATICA | 2003年 / 39卷 / 09期

关键词：

optimal trajectories; trajectory tracking; optimal control; nonlinear systems; variable structure control;

D O I：

10.1016/S0005-1098(03)00169-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Based on the theoretical results from optimal control theory and sliding mode control, this paper proposes a discrete time nonlinear control law that guarantees the minimum time global stabilization of a chain of three integrators with bounded control input. Moreover, the proposed control law allows the minimum time trajectory tracking for a wide class of reference signals (such as step, ramp, saw tooth, etc.) and it can be used as nonlinear filter for the trajectories generation. (C) 2003 Elsevier Ltd. All rights reserved.

引用

页码：1643 / 1649

页数：7