Preview Tracking Control for Quasi-One-Sided Lipschitz Nonlinear Systems

This paper deals with the problem of output tracking control for quasi-one-sided Lipschitz nonlinear systems based on the basic idea of preview control. Thanks to the construction of an augmented error system including preview information, the original output tracking problem is formulated by a standard robust H∞\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$H_\infty $$\end{document} control problem. A new output tracking control scheme, which is composed of a state-feedback controller, an integrator and a preview compensation mechanism, is established to make the closed-loop system track the desired reference signal. Compared to the existing control scheme, the full utilization of prescribed preview information technique can largely improve the tracking performance of the closed-loop system. Numerical examples are included to illustrate the validity and applicability of the proposed design methodology.