Robust output maneuvering for a class of nonlinear systems.
type: Item
instance of: scholarly article
title: Robust output maneuvering for a class of nonlinear systems.
zbMATH Open document ID: 1042.93024
author: Roger Skjetne
author: Thor I. Fossen
author: P. V. Kokotović
published in: Automatica
publication date: 2004-03-14T00:00:00Z
review text: The general output maneuvering problem is divided into a geometric task and a dynamic task. The geometric task is to reach the path and then to stay on it, while the dynamic task is to satisfy a time, speed, or acceleration assignment along the path. Here, a robust maneuvering problem is considered for systems in the presence of bounded disturbances. In recursive steps the design solves the geometric task. It proceeds then to construct an update law that ties together the geometric design with the speed assignment, which may depend on the path or may be an exogenous time signal. Some illustrations are given.
Mathematics Subject Classification ID: 93B51
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 93D25
Mathematics Subject Classification ID: 93C73
zbMATH DE Number: 2056266
zbMATH Keywords: Output maneuvering
zbMATH Keywords: Path following
zbMATH Keywords: Tracking
zbMATH Keywords: Backstepping
zbMATH Keywords: Input-to-state stability
zbMATH Keywords: Disturbances
zbMATH Keywords: Speed assignment
reviewed by: Kurt Marti
MaRDI profile type: Publication
full work available at URL: j.automatica.2003.10.010
OpenAlex ID: W2030766364
cites work: Small-gain theorem for ISS systems and applications
cites work: Adaptive nonlinear control without overparametrization
cites work: Input to state stabilizability for parametrized families of systems
DOI: 10.1016/J.AUTOMATICA.2003.10.010
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description: scientific article; zbMATH DE number 2056266