A Tracking Controller for a certain class of nonlinear systems
Sprache des Vortragstitels:
Deutsch
Original Tagungtitel:
GAMM 2005
Sprache des Tagungstitel:
Deutsch
Original Kurzfassung:
Controller design methods based on flatness and passivity are well established. These methods are applied to PCHD systems such that flatness is used to achieve a high tracking performance and passivity ensures disturbance rejection and robustness. Since the error system, written in displacement coordinates, is not a PCHD system in general, we present conditions,which ensures this property. Therefore, one can apply methods from passivity control to stabilize the error dynamics.
Sprache der Kurzfassung:
Deutsch
Englischer Vortragstitel:
A Tracking Controller for a certain class of nonlinear systems
Englischer Tagungstitel:
GAMM 2005
Englische Kurzfassung:
Controller design methods based on flatness and passivity are well established. These methods are applied to PCHD systems such that flatness is used to achieve a high tracking performance and passivity ensures disturbance rejection and robustness. Since the error system, written in displacement coordinates, is not a PCHD system in general, we present conditions,which ensures this property. Therefore, one can apply methods from passivity control to stabilize the error dynamics.
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