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Sensitivity based trajectory following control damping methods

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  • Synthesis of trajectory following optimization methods with Lyapunov optimizing control techniques create continuous controls suitable for systems with switching surfaces. Fundamental contributions include the optimization structure from which the control law is derived and mitigation of undesirable system behavior. It is assumed the analyst is concerned with minimization of control effort and a positive definite function of the state. Disturbance rejection and stability are primary control objectives. Given these priorities, a cost functional with optimal control inspired structure due to the use of minimum cost descent control is constructed. It contains an analyst defined state dependent cost function. Another term is included which is a function of the control effort modified appropriately to reflect that sufficient control is needed to drive the state to a switching surface. This derivation establishes optimization rationale for disturbance rejection and switching surface placement. The control effort term provides for mitigation of finite time interval switching control; a continuous time analog to discontinuous chatter. A different perspective on chatter elimination via sensitivity analysis is provided and inspires the final ``control damping" algorithm.
    Mathematics Subject Classification: Primary: 93C10; Secondary: 93C15, 93C30.

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