Tracking implicit trajectories

Getz, N. H. and J. E. Marsden

In IFAC Symposium on Nonlinear Control Systems Design, (1995)


Output tracking of implicitly defined reference trajectories is examined. A continuous-time nonlinear dynamical system is constructed that produces explicit estimated of time-varying implicit trajectories. We prove that incorporation of this "dynamic inverter" into a tracking controller provides exponential output tracking of the implicitly defined trajectory for nonlinear control systems having vector relative degree and well-behaved internal dynamics.