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— We highlight an essential difference between path-following and reference-tracking for non-minimum phase systems. It is well-known that in the reference-tracking, for non-minimum phase systems, there exists a fundamental performance limitation in terms of a lower bound on the L 2-norm of the tracking error, even when the control effort is free. We show… (More)

— We address the problem of position trajectory-tracking and path-following control design for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty. For a general class of vehicles moving in either two or three-dimensional space, we demonstrate how adaptive switching supervisory control can be combined with a… (More)

- A Pedro Aguiar, Dragan B Dači´c, João P Hespanha, Petar Kokotovi´c
- 2004

In path-following the control objective is to force the output to follow a geometric path without a timing law assigned to it. We highlight a fundamental difference between the path-following and the standard reference-tracking by demonstrating that performance limitation due to unstable zero-dynamics can be removed in the path-following problem.

— In this paper we address the actuator/sensor allocation problem for linear time invariant (LTI) systems. Given the structure of an autonomous linear dynamical system, the goal is to design the structure of the input matrix (commonly denoted by B) such that the system is structurally controllable with the restriction that each input be dedicated, i.e., it… (More)

— We address the problem of trajectory-tracking and path-following control design for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty. For a general class of vehicles moving in either two or three-dimensional space, we demonstrate how adaptive switching supervisory control can be combined with a nonlinear… (More)

This paper addresses the problem of steering a group of vehicles along given spatial paths while holding a desired time-varying geometrical formation pattern. The solution to this problem, henceforth referred to as the coordinated path-following (CPF) problem, unfolds in two basic steps. First, a path-following (PF) control law is designed to drive each… (More)

This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major minimization problems: (i) selection of the minimum number of manipulated/measured variables to achieve structural… (More)

— Inspired by the previous work of Aicardi et al.[1] a path following controller for underactuated planar vehicles is designed by adopting a polar-like kinematic model of the system. The solution proposed does not generally guarantee null asymptotic path following error, but only its bounded-ness below an adjustable upper threshold. However, knowledge of… (More)

We investigate limits of performance in reference-tracking and path-following and highlight an essential difference between them. For a class of nonlinear systems, we show that in reference-tracking, the smallest achievable L2 norm of the tracking error is equal to the least amount of control energy needed to stabilize the zero-dynamics of the error system.… (More)