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Path-Following or Reference-Tracking? an Answer Relaxing the Limits to Performance

Authors: A. Pedro Aguiar, Dragan B. Dacic, Joao P. Hespanha, Petar Kokotovic

Published: 2004 (Conference Paper)

Source: IFAC Symposium on Intelligent Autonomous Vehicles (IAV)

Algorithm: Path-following

DOI: 10.1016/S1474-6670(17)31970-5

Summary

Clarifies why geometric path following can avoid performance limits that constrain time-indexed reference tracking for nonminimum-phase systems. The core insight is that choosing the timing law gives the controller extra freedom to stabilize troublesome zero dynamics.

Abstract

In path-following the control objective is to force the output to follow a geometric path without a timing law assigned to it. We highlight a fundamental difference between the path-following and the standard reference-tracking by demonstrating that performance limitation due to unstable zero-dynamics can be removed in the path-following problem.

Primary

Paper web.ece.ucsb.edu

Standard

DOI 10.1016/S1474-6670(17)31970-5

Tags

  • Path following

  • Reference tracking

  • Nonminimum phase systems

  • Zero dynamics

  • Control theory

  • Performance limits