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Tracking implicit trajectories

Getz, Neil H. and Marsden, Jerrold E. (1995) Tracking implicit trajectories. In: Nonlinear control systems design, 1995 : a postprint volume from the 3rd IFAC Symposium, Tahoe City, California, USA, 25-28 June 1995. International Federation of Automatic Control , Tarrytown, N.Y., USA, pp. 25-28. ISBN 008042371X.

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Output tracking of implcitly defined reference trajectories is examined. A continuous-time nonlinear dynamical system is constructed that produces explicit estimates of time-varying implicit trajectories. We prove that incorporation of this "dynamic inverter" into a tracking controller provides exponential output tracking of the implicitly defined trajectory for nonlinear control systems having vector relative degree and well-behaved internal dynanmics.

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Additional Information:© 1995, IFAC. February 17, 1995. The authors are grateful to C.A. Desoer and S.M. Shahruz for their comments and advice. Presented at IFAC Symposium on Nonlinear Control System Design, Tahoe City, June 26-28, 1995.
Subject Keywords:dynamic, inversion, implicit, tracking, inverse kinematic problem. non linear control, robot control, singular perturbations
Record Number:CaltechAUTHORS:20101027-104643012
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:20564
Deposited By: Ruth Sustaita
Deposited On:02 Dec 2010 00:42
Last Modified:03 Oct 2019 02:12

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