ZG controller groups for two-output tracking of two-input Brockett integrator

• Published in: Fifth International Conference on Intelligent Control and Information Processing pp. 330 - 335
• Main Authors: Chaowei Hu, Ying Wang, Xiangui Kang, Zhengli Xiao, Yunong Zhang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.08.2014
• Subjects: Educational institutions; Equations; Mathematical model; Nonlinear systems; Process control; Real-time systems; Trajectory
• ISBN: 1479936499; 9781479936496
• DOI: 10.1109/ICICIP.2014.7010272

As one of the most interesting nonlinear systems with nonholonomic constraint, Brockett integrator is researched widely at present in nonlinear control field. Zhang-gradient (ZG) method is a type of powerful method for real-time control problems solving. In this paper, the nonlinear system of two-input Brockett integrator is investigated. By exploiting the ZG method, three types of ZG controller groups (specifically, two types of z1g0-z1g0 controller groups and one type of z1g0-z1g1 controller group) are designed for two-output tracking of Brockett integrator. Computer simulations are conducted to substantiate the feasibility and effectiveness of the two-input Brockett integrator equipped with the designed ZG controller groups for outputs tracking. The simulation results verify that the ZG controller in form of u̇(t) can handle the division-by-zero problem successfully. Besides, the relation between two output errors of ZG controller groups are analyzed. Finally, the effects of design parameters on ZG controller group are also investigated.