Title: Maneuver regulation, transverse feedback linearization and zero dynamics (½ hour)
Abstract: The maneuver regulation (or path following) problem has received considerable attention in the control literature and feedback linearization has proven an effective approach to solving this problem. This talk presents a general synthesis method for designing path following controllers for a class of systems using the concept of transverse feedback linearization. The relationship between maneuver regulation, transverse feedback linearization and zero dynamics is also discussed.