Abstract
A method to achieve precise output tracking for non-minimum systems by combining output redefinition with non-causal stable inversion is presented. Firstly, output redefinition approach can make the system reach Stable Initial State after a fixed time period. An optimal solution by a search algorithm to minimize the magnitude of the redefined trajectory designed with exponential form is obtained. Then a precise output trajectory tracking is achieved via stable inversion. In contrast with conventional stable inversion, the new method can reduce the pre-actuation time. The simulation of the proposed method for a tip trajectory tracking of a one-link flexible manipulator shows that the system state can be transferred accurately to Stable Initial State with no vibrating output over the transition process.
Published Version
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