Controller Design of Nonlinear System for Fully Trackable and Partially Trackable Paths by Combining ZD and GD

摘要

Zhang dynamics (ZD),which is based on an indefinite error-monitoring function called Zhangian,is a powerful type of dynamics for online time-varying problems solving.Besides,gradient dynamics (GD),which was originally designed to solve constant problems,can be generalized for online time-varying problems solving.In this paper,the tracking-control problem of a general nonlinear system with fully trackable and partially trackable paths is presented and investigated.Then,by combining ZD and the generalized GD,an innovative method called ZD-GD method is proposed to solve this tracking-control problem.Simulation results on the nonlinear system further substantiate the feasibility and superiority of the combined ZD-GD method for both fully trackable and partially trackable paths.