Design of globally tracking controller for a class of feedback linearizable systems

摘要

The problem of globally tracking a given reference signal for a class of feedback linearizable systems is researched. The globally tracking problem is transformed into that of global stabilization of the error system. A control Lyapunov function (CLF) is constructed by the Riccati equation. Then, we verify that it is just a CLF for the error system. A global tracking controller is designed by using Sontag's universal. This design is applied to control an one-link robot arm. The simulation result shows the effectiveness of the method.