Control of nonlinear systems with output tracking error constraints and its application to magnetic bearings
A constructive method is presented to design controllers that force the output of nonlinear systems in a strict feedback form to track a bounded and sufficiently smooth reference trajectory asymptotically. Under a suitable condition on the initial output tracking error, the proposed controllers guar...
| Main Author: | |
|---|---|
| Format: | Journal Article |
| Published: |
Taylor & Francis
2010
|
| Online Access: | http://hdl.handle.net/20.500.11937/30086 |
| Summary: | A constructive method is presented to design controllers that force the output of nonlinear systems in a strict feedback form to track a bounded and sufficiently smooth reference trajectory asymptotically. Under a suitable condition on the initial output tracking error, the proposed controllers guarantee the output tracking error within a symmetric or an asymmetric pre-specified limit range, and boundedness of all signals of the closed-loop system. A transformation is introduced to take care of the output tracking error constraint. Smooth and/or p-times differentiable step functions are proposed and incorporated in the output tracking error transformation to overcome difficulties due to the asymmetric limit range on the output tracking error. As a result, there are no switchings in the proposed controllers despite the asymmetric limit range. The proposed control design is then applied to design a tracking controller for active magnetic bearings as an illustrating application. © 2010 Taylor & Francis. |
|---|