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AN ALGORITHM FOR DIGITAL IMPLEMENTATION OF TRAJECTORY TRACKING CONTROLLERS
Author(s) -
Aguilar J. L. Mancilla,
García R. A.,
Troparevsky M. I.
Publication year - 2000
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2000.tb00155.x
Subject(s) - trajectory , control theory (sociology) , tracking (education) , tracking error , computer science , context (archaeology) , controller (irrigation) , sampling (signal processing) , nonlinear system , stability (learning theory) , digital control , error detection and correction , algorithm , control (management) , artificial intelligence , computer vision , engineering , psychology , paleontology , pedagogy , physics , electrical engineering , filter (signal processing) , quantum mechanics , astronomy , machine learning , agronomy , biology
In this work, we study the problem of the digital implementation of continuous‐time solutions to the trajectory tracking control problem for nonlinear systems. We exhibit an example that shows that, in general, no proper behavior of the tracking error can be expected when these solutions are implemented via the Sampling and Zero Order Hold technique. Inspired in some constructions developed in the context of Positional Games, we present a sampled‐data controller that, based on a continuous‐time solution of the tracking problem, assures semiglobal practical stability of the tracking error, with final error arbitrarily small if we choose a suitable sampling period. The controller is robust with respect to small external disturbances and small errors in the measurements.