Output tracking control with acceleration assignment for a class of nonlinear systems
一类非线性系统的加速度规划输出跟踪动态控制

For a class of second order nonlinear multi input multi output (MIMO) systems with strict feedback, an output path-following controller with acceleration assignment is proposed. A path variable, instead of the time variable, is used to program the acceleration in path-following task to eliminate the extra inner acceleration control loop for simplifying the controller design procedure. The derivative of the control term is employed to form an augmented system, the output of which is driven to follow the desired path according to a feedback linearizing dynamic control law. The update law obtained by the gradient method is used to achieve the asymptotic convergence of the acceleration error. The constant speed control is realized by adjusting the desired acceleration. The stability analysis indicates that the closed-loop error system is asymptotically stable and the speed error is bounded. Simulation of the tracking control for a dynamically positioning vessel is presented to illustrate the feasibility and effectiveness of the proposed controller.