Preview tracking control of project trajectories for continuous-time systems

A preview tracking control method based on tracking reconciliation error and switch rules was provided to deal with the preview tracking control problem of time-limited objective trajectories in continuous-time systems.This method consists of the following steps.First,the trace reconciliation error,the position tracking error,and the derivative of the state variable are combined into a new system state variable,which transforms the tracking problem into a regulator problem and builds a tracking control system with an objective value preview based on reconciliation error.Second,by means of switching systems,the problem of complicated objective trajectories crossing over different coordinate axes is solved.This leads to the global preview tracking control of objective trajectories.In addition,the paper is also a typical example whose subsystem is a time-varying switching system.Numerical simulation results demonstrate the effectiveness of the suggested method.