A Tracking Controller for a certain class of nonlinear systems

Description

Controller design methods based on flatness and passivity are well established. These methods are applied to PCHD systems such that flatness is used to achieve a high tracking performance and passivity ensures disturbance rejection and robustness. Since the error system, written in displacement coordinates, is not a PCHD system in general, we present conditions,which ensures this property. Therefore, one can apply methods from passivity control to stabilize the error dynamics.

Period	29 Mar 2005
Event title	GAMM 2005
Event type	Conference
Location	LuxembourgShow on map