Preview-Based Stable-Inversion for Output Tracking of Linear Systems

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 121 Số 4 - Trang 625-630 - 1999
Qingze Zou1, Santosh Devasia1
1Mechanical Engineering Department, University of Utah, SLC, UT, 84112

Tóm tắt

Stable Inversion techniques can be used to achieve high-accuracy output tracking. However, for nonminimum phase systems, the inverse is noncausal—hence the inverse has to be precomputed using a prespecified desired-output trajectory. This requirement for prespecification of the desired output restricts the use of inversion-based approaches to trajectory planning problems (for nonminimum phase systems). In the present article, it is shown that preview information of the desired output can be used to achieve online inversion-based output-tracking of linear systems. The amount of preview-time needed is quantified in terms of the tracking error and the internal dynamics of the system (zeros of the system). The methodology is applied to the online output tracking of a flexible structure and experimental results are presented.

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Thông tin xuất bản

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Tập 121 Số 4

625-630

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