Design of High Accuracy Tracking Systems with H∞ Preview Control
نویسندگان
چکیده
Positioning and tracking control systems are an important component of autonomous robot applications. This paper presents the design method of tracking control systems based on H∞ preview control where the present and future desired positions of the robot are used to determine the control actions to be applied so that the robot describes the desired trajectory as close as possible. The performance improvements achieved with H∞ preview control have been examined in the frequency and time domains for different types of reference signals when applied to a one-dimensional positioning system. It was found that preview control improves the tracking performance by improving the phase response of the tracking system.
منابع مشابه
Quaternion-based Finite-time Sliding Mode Controller Design for Attitude Tracking of a Rigid Spacecraft during High-thrust Orbital Maneuver in the Presence of Disturbance Torques
In this paper, a quaternion-based finite-time sliding mode attitude controller is designed for a spacecraft performing high-thrust orbital maneuvers, with cold gas thrusters as its actuators. The proposed controller results are compared with those of a quaternion feedback controller developed for the linearized spacecraft dynamics, in terms of settling time, steady-state error, number of thrust...
متن کاملDesign of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators
This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...
متن کاملAdaptive Neural Network Method for Consensus Tracking of High-Order Mimo Nonlinear Multi-Agent Systems
This paper is concerned with the consensus tracking problem of high order MIMO nonlinear multi-agent systems. The agents must follow a leader node in presence of unknown dynamics and uncertain external disturbances. The communication network topology of agents is assumed to be a fixed undirected graph. A distributed adaptive control method is proposed to solve the consensus problem utilizing re...
متن کاملDesign of robust carrier tracking systems in high dynamic and high noise conditions, with emphasis on neuro-fuzzy controller
The robust carrier tracking is defined as the ability of a receiver to determine the phase and frequency of the input carrier signal in unusual conditions such as signal loss, input signal fading, high receiver dynamic, or other destructive effects of propagation. An implementation of tight tracking can be understood in terms of adopting a very narrow loop bandwidth that contradict with the req...
متن کاملH∞ Tracking with Preview for Linear Systems with Impulsive Effects -State Feedback and Full Information Cases-
In this paper we study H∞ tracking problems with preview by state feedback and full information for linear systems with impulsive effects on the finite time interval. We mainly consider the case that our systems are affected by discrete disturbance at jump instants. We mainly consider the problem that the reference signals are previewed in a fixed time interval and present state feedback and fu...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Polibits
دوره 50 شماره
صفحات -
تاریخ انتشار 2014