Trajectory tracking for a diffusion-reaction system
In this paper, we design an asymptotically stabilizing tracking controller which is able to approximately steer the diffusion-reaction system from any state to a reference trajectory.A close-loop controller is added on one boundary of the system which makes the other side of the boundary to track the desired trajectory With backstepping feedback controller on the boundary of the original system, we avoid dealing with the motion planning problem for the complex and difficult diffusion-reaction system.We just need to solve the motion planning problem of the simple and stable target system which is transformed from the original system by backesteeping map.The output achieves convergence to the reference trajectory under the control of the backstepping feedback and the actuator which is the exact solution of motion planning for the target system.Numerical results are also shown for evaluating the tracking performance.
backstepping boundary control,motion planning trajectory tracking diffusion-reaction system
Jie Qi Xiaoyu Jiang
College of Information Sciences and Technology, Donghua University, Shanghai 201620, China
国内会议
2013中国自动化学会华东六省一市年会(CETCU 2013)
威海
英文
68-73
2013-10-11（万方平台首次上网日期，不代表论文的发表时间）