Abstract

COSTA, V. A.; GARCIA, R. A.  and  TROPAREVSKY, M. I.. An output feedback algorithm for trajectory tracking in control affine nonlinear systems. Lat. Am. appl. res. [online]. 2003, vol.33, n.4, pp.407-412. ISSN 0327-0793.

In this work we present an output feedback algorithm that solves the trajectory tracking problem in control affine nonlinear systems. This algorithm, is an improvement, for this class of systems, of that of (Mancilla Aguilar et al. 2000a), since it reduces the chattering effect on the control while keeping the original performance. In addition, and via a high gain observer, it deals with discrete output measurements instead of the states, as the original algorithm does.

Keywords : Sampled-Data; Chattering; Observer; Output Feedback; Trajectory Tracking.

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