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Augmented System Approach to Measurement-Based Robust Tracking

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Dynamics and Control

Abstract

This paper considers the robust tracking problem using an augmented system approach. Our results extend previous full-state results to observer-based feedback. The system matrix is assumed to contain time-invariant uncertainty. Two cases are considered. In the first, the tracked output is available for feedback and a controller can be obtained by considering a robust stabilization problem. The resulting control law can be applied to polynomial reference signals of known order and results in zero steady-state error. In the second case, where the tracked output is not available for feedback, our approach is restricted to step references, and the steady-state error is non-zero, although bounded by a prescribed value. To obtain the controller, a robust H ∞ problem must be solved rather than a robust stabilization problem.

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Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, University of California Irvine, Irvine, CA, 92717

    R. W. Benson & W. E. Schmitendorf

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  1. R. W. Benson
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  2. W. E. Schmitendorf
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Benson, R.W., Schmitendorf, W.E. Augmented System Approach to Measurement-Based Robust Tracking. Dynamics and Control 7, 315–325 (1997). https://doi.org/10.1023/A:1008273326163

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  • DOI: https://doi.org/10.1023/A:1008273326163

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