Design of Constructive Tracking Control for Differentially Flat Systems via Minimum Projection Method

Design of Constructive Tracking Control for Differentially Flat Systems via Minimum Projection Method
复制标题

基于最小投影法的差分平坦系统相长跟踪控制设计

DOI：
10.1109/ccta41146.2020.9206377
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发表时间：
2020
期刊：
Proceedings of the 2020 IEEE Conference on Control Technology and Applications
影响因子：
--
通讯作者：
Nakamura Hisakazu
Nakamura Hisakazu
中科院分区：
--
文献类型：
--
作者：
Ikeda Ryoya;Hayashi Takuya;Nakamura Hisakazu

文献摘要

相似文献

研究了微分平坦系统的轨迹跟踪问题。我们利用最小投影法设计了一种跟踪控制李雅普诺夫函数(TCLF)，该函数可以排除微分平坦系统的虚拟状态。此外，利用所设计的TCLF设计了逆最优控制器，并对差分平面系统的轨迹跟踪进行了计算机仿真。
This paper addresses a trajectory tracking problem for differentially flat systems. We designed a Tracking Control Lyapunov Function (TCLF) that excludes a virtual state for differentially flat systems via the minimum projection method. Moreover, we designed an inverse optimal controller with this designed TCLF and conducted computer simulation regarding trajectory tracking for differentially flat systems.