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Tracking Control Problem (tracking + control_problem)
Selected AbstractsPredictor-based repetitive learning control for a class of remote control nonlinear systemsINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 16 2007Ya-Jun Pan Abstract In this paper, a repetitive learning control (RLC) approach is proposed for a class of remote control nonlinear systems satisfying the global Lipschitz condition. The proposed approach is to deal with the remote tracking control problem when the environment is periodic or repeatable over infinite time domain. Since there exist time delays in the two transmission channels: from the controller to the actuator and from the sensor to the controller, tracking a desired trajectory through a remote controller is not an easy task. In order to solve the problem caused by time delays, a predictor is designed on the controller side to predict the future state of the nonlinear system based on the delayed measurements from the sensor. The convergence of the estimation error of the predictor is ensured. The gain design of the predictor applies linear matrix inequality (LMI) techniques developed by Lyapunov Kravoskii method for time delay systems. The RLC law is constructed based on the feedback error from the predicted state. The overall tracking error tends to zero asymptotically over iterations. The proof of the stability is based on a constructed Lyapunov function related to the Lyapunov Kravoskii functional used for the proof of the predictor's convergence. By well incorporating the predictor and the RLC controller, the system state tracks the desired trajectory independent of the influence of time delays. A numerical simulation example is shown to verify the effectiveness of the proposed approach. Copyright © 2007 John Wiley & Sons, Ltd. [source] A further result of the nonlinear mixed H2/H, tracking control problem for robotic systemsJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 1 2002C. Q. Huang The design objective of a mixed H2/H, control is to find the H2 optimal tracking control law under a prescribed disturbance attenuation level. With the help of the technique of completing the squares, a further result of the mixed H2/H, optimal tracking control problem is presented, by combining it with standard LQ optimal control technique. In this paper, only a nonlinear time-varying Riccati equation is required to solve the problem in the design procedure,instead of two coupled nonlinear time-varying Riccati equations, or two coupled linear algebraic Riccati-Iike equations,with some assumptions made regarding the weighting matrices in the existing results. A closed-form controller for the mixed H2/H, robotic tracking problem is simply constructed with a matrix inequality check. Moreover, it shows that the existing results are the special cases of these results. Finally, detailed comparison is performed by numerical simulation of a two-link robotic manipulator. © 2002 John Wiley & Sons, Inc. [source] Trajectory planning for boundary controlled parabolic PDEs with varying parameters defined on a parallelepipedPROCEEDINGS IN APPLIED MATHEMATICS & MECHANICS, Issue 1 2009Thomas Meurer The trajectory planning and feedforward tracking control problem is considered for a boundary controlled diffusion-reaction system with a spatially and time varying reaction parameter defined on a 3-dimensional parallelepiped. For this, an implicit state and input parametrization in terms of a basic output via a Volterra-type integral equation with operator kernel is determined, which is solved recursively by means of a series ansatz. The absolute and uniform convergence of the resulting series is verified by restricting the reaction parameter and the basic output to a certain but broad Gevrey class. Hence, assigning an admissible desired trajectory for the basic output directly yields the respective feedforward control, which is required to realize a desired spatio-temporal transition path. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim) [source] Tracking control for switched linear systems with time-delay: a state-dependent switching method,ASIAN JOURNAL OF CONTROL, Issue 5 2009Qing-Kui Li Abstract Tracking control for switched linear systems with time-delay is investigated in this paper. Based on the state-dependent switching method, sufficient conditions for the solvability of the tracking control problem are given. We use single Lyapunov function technique and a typical hysteresis switching law to design a tracking control law such that the H, model reference tracking performance is satisfied. The controller design problem can be solved efficiently by using linear matrices inequalities. Since convex combination techniques are used to derive the delay independent criteria, some subsystems are allowed to be unstable. It is highly desirable that a non-switched time-delay system can not earn such property. Simulation example shows the feasibility and validity of the switching control law. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source] Constrained PID tracking control for output PDFs of non-gaussian stochastic system based on LMIs,ASIAN JOURNAL OF CONTROL, Issue 5 2009Yang Yi Abstract This paper presents a new PID tracking control strategy for general non-Gaussian stochastic systems based on a square root B-spline model for the output probability density functions (PDFs). Using the B-spline expansion with modeling errors and the nonlinear weight model with exogenous disturbances, the PDF tracking is transformed to a constrained dynamical tracking control problem for weight vectors. Instead of the non-convex design algorithms, the generalized PID controller structure and the improved convex linear matrix inequality (LMI) algorithms are proposed to fulfil the PDF tracking problem. Meanwhile, in order to enhance robustness, the robust peak-to-peak measure is applied to optimize the tracking performance. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source] Black-box position and attitude tracking for underwater vehicles by second-order sliding-mode techniqueINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 14 2010Giorgio Bartolini Abstract In this work we address the tracking control problems for autonomous underwater vehicles (AUVs). The proposed solution is based on the variable structure systems (VSS) theory and, in particular, on the second-order sliding-mode (2-SM) methodology. The tuning of the controller is carried out via black-box approach, dispensing with the knowledge of the actual AUV parameters, by simply progressively increasing a single gain parameter. The presented stability analysis includes explicitly the unmodelled actuator dynamics and the presence of external uncertain disturbances. The good performance of the proposed scheme is verified by means of simulations on a 6-DOF AUV. Copyright © 2009 John Wiley & Sons, Ltd. [source] Robust tracking control design for uncertain robotic systems with persistent bounded disturbancesASIAN JOURNAL OF CONTROL, Issue 4 2008Chung-Shi Tseng Abstract In this study, a robust nonlinear L, - gain tracking control design for uncertain robotic systems is proposed under persistent bounded disturbances. The design objective is that the peak of the tracking error in time domain must be as small as possible under persistent bounded disturbances. Since the nonlinear L, - gain optimal tracking control cannot be solved directly, the nonlinear L, - gain optimal tracking problem is transformed into a nonlinear L, - gain tracking problem by given a prescribed disturbance attenuation level for the L, - gain tracking performance. To guarantee that the L, - gain tracking performance can be achieved for the uncertain robotic systems, a sliding-mode scheme is introduced to eliminate the effect of the parameter uncertainties. By virtue of the skew-symmetric property of the robotic systems, sufficient conditions are developed for solving the robust L, - gain tracking control problems in terms of an algebraic equation instead of a differential equation. The proposed method is simple and the algebraic equation can be solved analytically. Therefore, the proposed robust L, - gain tracking control scheme is suitable for practical control design of uncertain robotic systems. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source] | ||||||||||