Avoiding saturation by trajectory reparameterization
- 24 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (01912216) , 76-81 vol.1
- https://doi.org/10.1109/cdc.1996.574257
Abstract
The problem of trajectory tracking in the presence of input constraints is considered. The desired trajectory is reparameterized on a slower time scale in order to avoid input saturation. Necessary conditions that the reparameterizing function must satisfy are derived. The deviation from the nominal trajectory is minimized by formulating the problem as an optimal control problem.Keywords
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