Path-following for nonminimum phase systems removes performance limitations
Path-following for nonminimum phase systems removes performance limitations
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DOI：
10.1109/tac.2004.841924
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发表时间：
2005-02-01
影响因子：
6.8
通讯作者：
Kokotovic, PV
中科院分区：
文献类型：
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作者：
Aguiar, AP;Hespanha, JP;Kokotovic, PV
我们强调非最小相位系统的路径跟踪和参考跟踪之间的本质区别。众所周知，在参考跟踪中，对于非最小相位系统，即使控制工作是免费的，在跟踪误差的 L-2 范数的下限方面也存在基本的性能限制。我们证明，对于不太严格的路径跟踪问题来说，情况并非如此，其中控制目标是迫使输出遵循几何路径，而无需为其分配时序定律。此外，即使当施加额外的期望速度分配时也是如此。
We highlight an essential difference between path-following and reference-tracking for nonminimum phase systems. It is well known that in the reference-tracking, for nonminimum phase systems, there exists a fundamental performance limitation in terms of a lower bound on the L-2-norm of the tracking error, even when the control effort is free. We show that this is not the case for the less stringent path-following problem, where the control objective is to force the output to follow a geometric path without a timing law assigned to it. Furthermore, the same is true even when an additional desired speed assignment is imposed.