An Algorithm for Trajectory Tracking in Sampled Data Nolinear Systems

摘要

In this work we study the trajectory tracking porblem in sampled-data nonlinear systems. We assume the following restrictions on the synthesis of the controller: a) we know the values of the states only at the sampling instats, b) the contrl law to be applied must be constant between sampling instants.If we have a control law that solves the problem without verifying a) and b),we can attemp to implement it via the Sampling and Zero Order Hold (SZH) in order to force it to satisfy the restrictions. But there exists cases in which the resulting tracking error is not acceptable,even if we choose a sampling period arbitrarily small.In this work, inspired by some techniques developed in the context of Positional Games, we present a control algorithm that, based on a solution of the tracking problem, produces a cntrol law that assures a bounded final tracking error as small as wished. We also present simulations to compare this algorithm with the SZH.