Abstract
This paper presents a novel approach for trajectory tracking of non-minimum phase systems. Classical stable inversion is an effective method to get precise trajectory tracking but with a large enough extended time interval. The method proposed is to solve this problem of large extended time restriction. It can get precise tracking of the reference trajectory with smaller extended time interval and nice overall tracking of the extended reference trajectory. This proposed method is the optimal combination of pre-actuation, post-actuation and optimal state transition techniques. The time intervals for pre-actuation, post-actuation and optimal state transition can be chosen flexibly so as to have a very nice tracking for different extended time intervals. The effectiveness of the proposed method is validated though simulations for the non-minimum phase system.
Published Version
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