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Perfect Tracking (perfect + tracking)
Selected AbstractsExtension of discrete simple adaptive control with asymptotically perfect tracking,INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 2 2002H. Shibata Abstract A discrete-time algorithm for simple adaptive control, proposed by one of authors, circumvents some drawbacks of the algorithm derived directly from continuous-time one. However, it leaves steady-state output error between a controlled plant and a reference model. This paper proposes a modified algorithm, which removes the steady-state output error. The stability of the algorithm is proved based on asymptotic output tracker theory, instead of command generator tracker theory. Finally, simulation results illustrate satisfactory control performance, that verifies the usefulness of the proposed algorithm. Copyright © 2002 John Wiley & Sons, Ltd. [source] Necessary and sufficient conditions for robust perfect tracking under variable structure controlINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 2 2003Andrea Balluchi Abstract The tracking control of linear MIMO systems with structured uncertainty is considered. A necessary and sufficient condition for robust asymptotic tracking employing variable structure techniques in the presence of multiplicative uncertainty is derived. The constructive proof of the theorem provides an explicit formula for controller synthesis. Copyright © 2002 John Wiley & Sons, Ltd. [source] Perfect position/force tracking of robots with dynamical terminal sliding mode controlJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 9 2001V. Parra-Vega According to a given performance criteria, perfect tracking is defined as the performance of zero tracking error in finite time. It is evident that robotic systems, in particular those that carry out compliant task, can benefit from this performance since perfect tracking of contact forces endows one or many constrained robot manipulators to interact dexterously with the environment. In this article, a dynamical terminal sliding mode controller that guarantees tracking in finite-time of position and force errors is proposed. The controller renders a dynamic sliding mode for all time and since the equilibrium of the dynamic sliding surface is driven by terminal attractors in the position and force controlled subspaces, robust finite-time convergence for both tracking errors arises. The controller is continuous; thus chattering is not an issue and the sliding mode condition as well the invariance property are explicitly verified. Surprisingly, the structure of the controller is similar with respect to the infinite-time tracking case, i.e., the asymptotic stability case, and the advantage becomes more evident because terminal stability properties are obtained with the same Lyapunov function of the asymptotic stability case by using more elaborate error manifolds instead of a more complicated control structure. A simulation study shows the expected perfect tracking and a discussion is presented. © 2001 John Wiley & Sons, Inc. [source] Simple LMI based learning control design,ASIAN JOURNAL OF CONTROL, Issue 1 2009Yongqiang Ye Abstract In this note, a simple linear matrix inequality (LMI) design method is proposed for iterative learning control (ILC). The design can ensure a monotonic error decay in 2-norm. Experimental results on a SCARA robot shows that the design can achieve nearly perfect tracking. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source] | ||||||||||