Feedforward control design for finite-time transition problems of nonlinear systems with input and output constraints

Graichen K, Zeitz M (2008)

Publication Language: English

Publication Type: Journal article, Original article

Publication year: 2008

Journal

IEEE Transactions on Automatic Control

Book Volume: 53

Pages Range: 1273-1278

Journal Issue: 5

DOI: 10.1109/TAC.2008.921044

Abstract

The article extends a recently presented approach to feedforward control design for nonlinear systems to additionally account for input and output constraints. The inversion-based design treats a finite-time transition problem as a two-point boundary value problem (BVP) in the coordinates of the input-output normal form. To account for constraints on the output and its time derivatives, the input-output dynamics is replaced by a new system, which is systematically constructed by means of saturation functions. The solvability of the BVP requires a sufficient number of free parameters in an ansatz function. The resulting BVP with free parameters can be solved in a straightforward manner (e.g., with the Matlab function bvp4c). Input constraints can additionally be considered as constraints on the highest output derivative. The approach is applicable to nonlinear and nonminimum-phase systems, which is illustrated for the side-stepping of an inverted pendulum on a cart.

Authors with CRIS profile

Knut Graichen

Additional Organisation(s)

Chair of Automatic Control (LRT/AC)

Involved external institutions

Technische Universität Wien / Vienna University of Technology AT Austria (AT) Universität Stuttgart DE Germany (DE)

How to cite

APA:

Graichen, K., & Zeitz, M. (2008). Feedforward control design for finite-time transition problems of nonlinear systems with input and output constraints. IEEE Transactions on Automatic Control, 53(5), 1273-1278. https://doi.org/10.1109/TAC.2008.921044

MLA:

Graichen, Knut, and Michael Zeitz. "Feedforward control design for finite-time transition problems of nonlinear systems with input and output constraints." IEEE Transactions on Automatic Control 53.5 (2008): 1273-1278.

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