Based on the theoretical results from optimal control theory and sliding mode control, this paper proposes a discrete time nonlinear control law that guarantees the minimum time global stabilization of a chain of three integrators with bounded control input. Moreover, the proposed control law allows the minimum time trajectory tracking for a wide class of reference signals (such as step, ramp, saw tooth, etc.) and it can be used as nonlinear /lter for the trajectories generation.

Discrete minimum time tracking problem for a chain of three integrators with bounded input / Zanasi, Roberto; Morselli, Riccardo. - In: AUTOMATICA. - ISSN 0005-1098. - STAMPA. - 39:(2003), pp. 1643-1649.

Discrete minimum time tracking problem for a chain of three integrators with bounded input

ZANASI, Roberto;MORSELLI, Riccardo
2003

Abstract

Based on the theoretical results from optimal control theory and sliding mode control, this paper proposes a discrete time nonlinear control law that guarantees the minimum time global stabilization of a chain of three integrators with bounded control input. Moreover, the proposed control law allows the minimum time trajectory tracking for a wide class of reference signals (such as step, ramp, saw tooth, etc.) and it can be used as nonlinear /lter for the trajectories generation.
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Discrete minimum time tracking problem for a chain of three integrators with bounded input / Zanasi, Roberto; Morselli, Riccardo. - In: AUTOMATICA. - ISSN 0005-1098. - STAMPA. - 39:(2003), pp. 1643-1649.
Zanasi, Roberto; Morselli, Riccardo
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/455637
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