TRAJECTORY TRACKING FOR NONLINEAR SYSTEMS USING LINEAR DYNAMIC OUTPUT FEEDBACK
Topic: Stabilization | All
16 juillet 2007, Salle V 115, à l'Ecole des Mines, Paris
14h00 : Dr. Felix ANTRITTER, Universität der Bundeswehr, München, Allemagne.
In this talk the stabilization of reference trajectories for nonlinear systems using a differential operator representation of the linearized tracking error dynamics is presented. In the case that not all states are available for measurement, the differential operator representation can be used to derive a stabilizing dynamic output feedback. Due to the fact that in this approach directly the control input is estimated, in general, low order controllers result compared to the construction of, e.g., nonlinear tracking observers. By means of an example the approach is compared to the application of a flatness based tracking controller with tracking observer. To demonstrate the performance of the designed controllers for application, measurement results for the tracking of the angular velocity of a DC motor, which is attached to a DC-to-DC boost type power converter, are presented.
14h00 : Dr. Felix ANTRITTER, Universität der Bundeswehr, München, Allemagne.
In this talk the stabilization of reference trajectories for nonlinear systems using a differential operator representation of the linearized tracking error dynamics is presented. In the case that not all states are available for measurement, the differential operator representation can be used to derive a stabilizing dynamic output feedback. Due to the fact that in this approach directly the control input is estimated, in general, low order controllers result compared to the construction of, e.g., nonlinear tracking observers. By means of an example the approach is compared to the application of a flatness based tracking controller with tracking observer. To demonstrate the performance of the designed controllers for application, measurement results for the tracking of the angular velocity of a DC motor, which is attached to a DC-to-DC boost type power converter, are presented.