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

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI:10.1109/CCTA41146.2020.9206377

Ryoya Ikeda, Takuya Hayashi, Hisakazu Nakamura

引用次数: 2

Abstract

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.

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基于最小投影法的差分平面系统构造跟踪控制设计

本文研究了微分平面系统的轨迹跟踪问题。我们设计了一个跟踪控制李雅普诺夫函数(Tracking Control Lyapunov Function, TCLF)，通过最小投影法排除了差分平面系统的虚拟状态。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。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2020 IEEE Conference on Control Technology and Applications (CCTA)

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