Discrete minimum time tracking problem for a chain of three integrators with bounded input (Q1400948): Difference between revisions

The authors consider a chain of three integrators that can be described by \[ \dot y(t)=\left[\begin{matrix} 0&1&0\\ 0&0&1\\ 0&0&0 \end{matrix} \right]y(t)+\left[\begin{matrix} 0\\ 0\\ 1 \end{matrix} \right]\tilde u(t).\tag{1} \] The minimum tracking for system (1) when \(|\tilde u(t)|\leqslant 1\) is a well-known result from optimal control theory. For the discrete time case, the overall system must be completely redesigned. Based on the theoretical results from optimal control theory and sliding mode control, the discrete time nonlinear control law that guarantees the minimum time global stabilization is presented together with simulations. The proposed control law allows the minimum time trajectory tracking for a wide class of reference signals (such as steps, ramps, saw tooth, etc.) and it can be used as a nonlinear filter for the generation of the trajectories.