Using GD to conquer the singularity problem of conventional controller for output tracking of nonlinear system of a class

摘要

Recently, gradient dynamics (GD) has been shown as a powerful tool for problems solving. Based on the GD method, a novel controller is proposed and investigated for output tracking of nonlinear system of a class. Such a GD controller can not only achieve the tracking-control task successfully as a conventional controller does, but also conquer the singularity problem, which is a difficult problem in conventional tracking-controller design and rarely studied in previous researches. Simulative results substantiate the efficacy and superiority of the proposed novel GD controller for conquering the singularity problem in output tracking of nonlinear system of a class.