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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