Discrete minimum time tracking problem for a chain of three integrators with bounded input

DOI10.1016/S0005-1098(03)00169-9MaRDI QIDQ1400948zbMATH OpenOpenAlexFDO

Authors R. Zanasi, Riccardo Morselli

Publication date 17 August 2003

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0005-1098(03)00169-9

zbMATH Keywords

minimum time controllerminimum time trajectory trackingnonlinear systemsoptimal controloptimal trajectoriestrajectory trackingvariable structure control

Mathematics Subject Classification ID

Variable structure systems (93B12) Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10)

Review text

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.

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Cites work

• Global stabilization and restricted tracking for multiple integrators with bounded controls
• scientific article; zbMATH DE number 3167340 (Why is no real title available?)
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• Nonlinear filters for the generation of smooth trajectories
• Variable structure systems with sliding modes

Cited in

(1)

• Time optimal control of triple integrator with input saturation and full state constraints

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