Publication Date:
2019-07-13
Description:
In this paper, we extend stable inversion to nonlinear time-varying systems and study computational issues; the technique is applicable to minimum-phase as well as nonminimum-phase systems. The inversion technique is new, even in the linear time-varying case, and relies on partitioning (the dichotomic split of) the linearized system dynamics into time-varying, stable, and unstable, submanifolds. This dichotomic split is used to build time-varying filters which are, in turn, the basis of a contraction used to find a bounded inverse input-state trajectory. Finding the inverse input-state trajectory allows the development or exact-output tracking controllers. The method is local to the time-varying trajectory and requires that the internal dynamics vary slowly; however, the method represents a significant advance relative to presently available tracking controllers. Present techniques are restricted to time-invariant nonlinear systems and, in the general case, track only asymptotically.
Keywords:
Numerical Analysis
Type:
IEEE Transactions on Automatic Control; 43; 2; 283-288
Format:
text
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