Paper Info
Title
On Event Triggered Trajectory Tracking For Control Affine Nonlinear Systems
Abstract
In this paper we study an event based control algorithm for trajectory tracking in control affine nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input. It is assumed that the desired trajectory and the exogenous input to the reference system are uniformly bounded. Given a continuous-time controller that guarantees global uniform asymptotic tracking of the desired trajectory our algorithm provides an event based controller that not only guarantees semiglobal uniform ultimate boundedness of the tracking error, but also ensures non-accumulation of inter-execution times. In the special case that the derivative of the exogenous input to the reference system is also uniformly bounded, the proposed control algorithm can be used to design an ultimate bound that is arbitrarily small. The main ideas in the paper are illustrated through simulations of trajectory tracking by a nonlinear system.
Year
DOI
Venue
2011
10.1109/CDC.2011.6161531
2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)
Keywords
Field
DocType
trajectory,measurement error,nonlinear systems,nonlinear system,measurement errors
Control theory,Mathematical optimization,Affine nonlinear system,Nonlinear system,Control theory,Computer science,Uniform boundedness,Observational error,Trajectory,Special case,Tracking error
Conference
ISSN
Citations 
PageRank 
0743-1546
8
0.82
References 
Authors
5
2
Name
Order
Citations
PageRank
Pavankumar Tallapragada118712.77
Nikhil Chopra273443.62