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Tracking Error (tracking + error)
Selected AbstractsIndex tracking with constrained portfoliosINTELLIGENT SYSTEMS IN ACCOUNTING, FINANCE & MANAGEMENT, Issue 1-2 2007Dietmar Maringer Passive portfolio management strategies, such as index tracking, are popular in the industry, but so far little research has been done on the cardinality of such a portfolio, i.e. on how many different assets ought to be included in it. One reason for this is the computational complexity of the associated optimization problems. Traditional optimization techniques cannot deal appropriately with the discontinuities and the many local optima emerging from the introduction of explicit cardinality constraints. More recent approaches, such as heuristic methods, on the other hand, can overcome these hurdles. This paper demonstrates how one of these methods, differential evolution, can be used to solve the constrained index-tracking problem. We analyse the financial implication of cardinality constraints for a tracking portfolio using an empirical study of the Down Jones Industrial Average. We find that the index can be tracked satisfactorily with a subset of its components and, more important, that the deviation between computed actual tracking error and the theoretically achievable tracking error out of sample is negligibly affected by the portfolio's cardinality. Copyright © 2007 John Wiley & Sons, Ltd. [source] Neural network-based adaptive attitude tracking control for flexible spacecraft with unknown high-frequency gainINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 6 2010Qinglei Hu Abstract Adaptive control design using neural networks (a) is investigated for attitude tracking and vibration stabilization of a flexible spacecraft, which is operated at highly nonlinear dynamic regimes. The spacecraft considered consists of a rigid body and two flexible appendages, and it is assumed that the system parameters are unknown and the truncated model of the spacecraft has finite but arbitrary dimension as well, for the purpose of design. Based on this nonlinear model, the derivation of an adaptive control law using neural networks (NNs) is treated, when the dynamics of unstructured and state-dependent nonlinear function are completely unknown. A radial basis function network that is used here for synthesizing the controller and adaptive mechanisms is derived for adjusting the parameters of the network and estimating the unknown parameters. In this derivation, the Nussbaum gain technique is also employed to relax the sign assumption for the high-frequency gain for the neural adaptive control. Moreover, systematic design procedure is developed for the synthesis of adaptive NN tracking control with L2 -gain performance. The resulting closed-loop system is proven to be globally stable by Lyapunov's theory and the effect of the external disturbances and elastic vibrations on the tracking error can be attenuated to the prescribed level by appropriately choosing the design parameters. Numerical simulations are performed to show that attitude tracking control and vibration suppression are accomplished in spite of the presence of disturbance torque/parameter uncertainty. Copyright © 2009 John Wiley & Sons, Ltd. [source] Model reference adaptive iterative learning control for linear systemsINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 9 2006A. Tayebi Abstract In this paper, we propose a model reference adaptive control (MRAC) strategy for continuous-time single-input single-output (SISO) linear time-invariant (LTI) systems with unknown parameters, performing repetitive tasks. This is achieved through the introduction of a discrete-type parametric adaptation law in the ,iteration domain', which is directly obtained from the continuous-time parametric adaptation law used in standard MRAC schemes. In fact, at the first iteration, we apply a standard MRAC to the system under consideration, while for the subsequent iterations, the parameters are appropriately updated along the iteration-axis, in order to enhance the tracking performance from iteration to iteration. This approach is referred to as the model reference adaptive iterative learning control (MRAILC). In the case of systems with relative degree one, we obtain a pointwise convergence of the tracking error to zero, over the whole finite time interval, when the number of iterations tends to infinity. In the general case, i.e. systems with arbitrary relative degree, we show that the tracking error converges to a prescribed small domain around zero, over the whole finite time interval, when the number of iterations tends to infinity. It is worth noting that this approach allows: (1) to extend existing MRAC schemes, in a straightforward manner, to repetitive systems; (2) to avoid the use of the output time derivatives, which are generally required in traditional iterative learning control (ILC) strategies dealing with systems with high relative degree; (3) to handle systems with multiple tracking objectives (i.e. the desired trajectory can be iteration-varying). Finally, simulation results are carried out to support the theoretical development. Copyright © 2006 John Wiley & Sons, Ltd. [source] Robust adaptive tracking control of uncertain discrete time systemsINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 9 2005Shengping Li Abstract In this paper, the problem of robust adaptive tracking for uncertain discrete-time systems is considered from the slowly varying systems point of view. The class of uncertain discrete-time systems considered is subjected to both ,,, to ,,, bounded unstructured uncertainty and external additive bounded disturbances. A priori knowledge of the dynamic model of the reference signal to be tracked is not completely known. For such problem, an indirect adaptive tracking controller is obtained by frozen-time controllers that at each time optimally robustly stabilize the estimated models of the plant and minimize the worst-case steady-state absolute value of the tracking error of the estimated model over the model uncertainty. Based on ,,, to ,,, stability and performance of slowly varying system found in the literature, the proposed adaptive tracking scheme is shown to have good robust stability. Moreover, a computable upper bound on the size of the unstructured uncertainty permitted by the adaptive system and a computable tight upper bound on asymptotic robust steady-state tracking performance are provided. Copyright © 2005 John Wiley & Sons, Ltd. [source] Output-feedback co-ordinated decentralized adaptive tracking: The case of MIMO subsystems with delayed interconnectionsINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 8 2005Boris M. Mirkin Abstract Exact decentralized output-feedback Lyapunov-based designs of direct model reference adaptive control (MRAC) for linear interconnected delay systems with MIMO subsystems are introduced. The design process uses a co-ordinated decentralized structure of adaptive control with reference model co-ordination which requires an exchange of signals between the different reference models. It is shown that in the framework of the reference model co-ordination zero residual tracking error is possible, exactly as in the case with SISO subsystems. We develop decentralized MRAC on the base of a priori information about only the local subsystems gain frequency matrices without additional a priori knowledge about the full system gain frequency matrix. To achieve a better adaptation performance we propose proportional, integral time-delayed adaptation laws. The appropriate Lyapunov,Krasovskii type functional is suggested to design the update mechanism for the controller parameters, and in order to prove stability. Two different adaptive DMRAC schemes are proposed, being the first asymptotic exact zero tracking results for linear interconnected delay systems with MIMO subsystems. Copyright © 2005 John Wiley & Sons, Ltd. [source] Convergence theory for multi-input discrete-time iterative learning control with Coulomb friction, continuous outputs, and input boundsINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 5 2004Brian J. Driessen Abstract In this paper we consider the problem of discrete-time iterative learning control (ILC) for position trajectory tracking of multiple-input, multiple-output systems with Coulomb friction, bounds on the inputs, and equal static and sliding coefficients of friction. We present an ILC controller and a proof of convergence to zero tracking error, provided the associated learning gain matrices are scalar-scaled with a sufficiently small positive scalar. We also show that non-diagonal learning gain matrices satisfying the same prescribed conditions do not lead to the same convergence property. To the best of our knowledge, for problems with Coulomb friction, this paper represents a first convergence theory for the discrete-time ILC problem with multiple-bounded-inputs and multiple-outputs; previous work presented theory only for the single-input, single-output problem. Copyright © 2004 John Wiley & Sons, Ltd. [source] Composite adaptive and input observer-based approaches to the cylinder flow estimation in spark ignition automotive enginesINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 2 2004A. Stotsky Abstract The performance of air charge estimation algorithms in spark ignition automotive engines can be enhanced using advanced estimation techniques available in the controls literature. This paper illustrates two approaches of this kind that can improve the cylinder flow estimation for gasoline engines without external exhaust gas recirculation (EGR). The first approach is based on an input observer, while the second approach relies on an adaptive estimator. Assuming that the cylinder flow is nominally estimated via a speed-density calculation, and that the uncertainty is additive to the volumetric efficiency, the straightforward application of an input observer provides an easy to implement algorithm that corrects the nominal air flow estimate. The experimental results that we report in the paper point to a sufficiently good transient behaviour of the estimator. The signal quality may deteriorate, however, for extremely fast transients. This motivates the development of an adaptive estimator that relies mostly on the feedforward speed-density calculation during transients, while during engine operation close to steady-state conditions, it relies mostly on the adaptation. In our derivation of the adaptive estimator, the uncertainty is modelled as an unknown parameter multiplying the intake manifold temperature. We use the tracking error between the measured and modelled intake manifold pressure together with an appropriately defined prediction error estimate to develop an adaptation algorithm with improved identifiability and convergence rate. A robustness enhancement, via a ,-modification with the ,-factor depending on the prediction error estimate, ensures that in transients the parameter estimate converges to a pre-determined a priori value. In close to steady-state conditions, the ,-modification is rendered inactive and the evolution of the parameter estimate is determined by both tracking error and prediction error estimate. Further enhancements are made by incorporating a functional dependence of the a priori value on the engine operating conditions such as the intake manifold pressure. The coefficients of this function can be learned during engine operation from the values to which the parameter estimate converges in close to steady-state conditions. This feedforward learning functionality improves transient estimation accuracy and reduces the convergence time of the parameter estimate. Copyright © 2004 John Wiley & Sons, Ltd. [source] Adaptive tracking control for electrically-driven robots without overparametrizationINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 2 2002Yeong-Chan Chang Abstract This paper addresses the motion tracking control of robot systems actuated by brushed direct current motors in the presence of parametric uncertainties and external disturbances. By using the integrator backstepping technique, two kinds of adaptive control schemes are developed: one requires the measurements of link position, link velocity and armature current for feedback and the other requires only the measurements of link position and armature current for feedback. The developed adaptive controllers guarantee that the resulting closed-loop system is locally stable, all the states and signals are bounded, and the tracking error can be made as small as possible. The attraction region can be not only arbitrarily preassigned but also explicitly constructed. The main novelty of the developed adaptive control laws is that the number of parameter estimates is exactly equal to the number of unknown parameters throughout the entire electromechanical system. Consequently, the phenomenon of overparametrization, a significant drawback of employing the integrator backstepping technique to treat the control of electrically driven robots in the previous literature, is eliminated in this study. Finally, simulation examples are given to illustrate the tracking performance of electrically driven robot manipulators with the developed adaptive control schemes. Copyright © 2002 John Wiley & Sons, Ltd. [source] Boundary control of a two-dimensional flexible rotorINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 6 2001S. P. Nagarkatti Abstract In this paper, we present the design of boundary controllers for a two-dimensional, spinning flexible rotor system. Specifically, we develop a model-based boundary controller which exponentially regulates the rotor's displacement and the angular velocity tracking error, and an adaptive boundary controller which asymptotically achieves the same control objective while compensating for parametric uncertainty. As opposed to previous boundary control work, which focused on the velocity setpoint problem and placed restrictions on the magnitude of the desired angular velocity setpoint, the proposed control architecture achieves angular velocity tracking with no restrictions on the magnitude of the desired velocity trajectory. Experimental results conducted on a flexible rotor tested are presented to illustrate the feasibility of implementing the proposed boundary control laws. Copyright © 2001 John Wiley & Sons, Ltd. [source] A model reference robust control with unknown high-frequency gain signINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 12 2010Jiang Xu Abstract In this paper, we discuss the model reference robust control (MRRC) for plants with unknown high-frequency gain sign. Based on an appropriate monitoring function, a switching scheme is proposed so that after a finite number of switching, for plants with relative degree one, the tracking error converges to zero exponentially, while for plants with relative degree greater than one, it converges exponentially to a residual set that can be made arbitrarily small by properly choosing some design parameters. Copyright © 2009 John Wiley & Sons, Ltd. [source] Tracking control for sampled-data systems with uncertain time-varying sampling intervals and delaysINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 4 2010N. van de Wouw Abstract In this paper, a solution to the approximate tracking problem of sampled-data systems with uncertain, time-varying sampling intervals and delays is presented. Such time-varying sampling intervals and delays can typically occur in the field of networked control systems. The uncertain, time-varying sampling and network delays cause inexact feedforward, which induces a perturbation on the tracking error dynamics, for which a model is presented in this paper. Sufficient conditions for the input-to-state stability (ISS) of the tracking error dynamics with respect to this perturbation are given. Hereto, two analysis approaches are developed: a discrete-time approach and an approach in terms of delay impulsive differential equations. These ISS results provide bounds on the steady-state tracking error as a function of the plant properties, the control design and the network properties. Moreover, it is shown that feedforward preview can significantly improve the tracking performance and an online extremum seeking (nonlinear programming) algorithm is proposed to online estimate the optimal preview time. The results are illustrated on a mechanical motion control example showing the effectiveness of the proposed strategy and providing insight into the differences and commonalities between the two analysis approaches. Copyright © 2009 John Wiley & Sons, Ltd. [source] Signal reconstruction in the presence of finite-rate measurements: finite-horizon control applicationsINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 1 2010Sridevi V. Sarma Abstract In this paper, we study finite-length signal reconstruction over a finite-rate noiseless channel. We allow the class of signals to belong to a bounded ellipsoid and derive a universal lower bound on a worst-case reconstruction error. We then compute upper bounds on the error that arise from different coding schemes and under different causality assumptions. When the encoder and decoder are noncausal, we derive an upper bound that either achieves the universal lower bound or is comparable to it. When the decoder and encoder are both causal operators, we show that within a very broad class of causal coding schemes, memoryless coding prevails as optimal, imposing a hard limitation on reconstruction. Finally, we map our general reconstruction problem into two important control problems in which the plant and controller are local to each other, but are together driven by a remote reference signal that is transmitted through a finite-rate noiseless channel. The first problem is to minimize a finite-horizon weighted tracking error between the remote system output and a reference command. The second problem is to navigate the state of the remote system from a nonzero initial condition to as close to the origin as possible in finite-time. Our analysis enables us to quantify the tradeoff between time horizon and performance accuracy, which is not well studied in the area of control with limited information as most works address infinite-horizon control objectives (e.g. stability, disturbance rejection). Copyright © 2009 John Wiley & Sons, Ltd. [source] Stability analysis of the drive-train of a wind turbine with quadratic torque controlINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 17 2009Chen Wang Abstract This paper investigates the stability of a variable-speed wind turbine operating under low to medium wind speed. The turbine is controlled to capture as much wind energy as possible. We concentrate on the mechanical level of the turbine system, more precisely on the drive-train with the standard quadratic generator torque controller. We consider both the one-mass and the two-mass models for the drive-train, with the inputs being the deviation of the active torque from an arbitrary positive nominal value and the tracking error of the generator torque. We show that the turbine system is input-to-state stable for the one-mass model and integral input-to-state stable for the two-mass model. Copyright © 2008 John Wiley & Sons, Ltd. [source] Position-dependent disturbance rejection using spatial-based adaptive feedback linearization repetitive controlINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 12 2009Cheng-Lun Chen Abstract In this paper, we propose a new design of spatial-based repetitive control for a class of rotary motion systems operating at variable speeds. The open-loop system in spatial domain is obtained by reformulating a nonlinear time-invariant system with respect to angular displacement. A two-degree-of-freedom control structure (comprising two control modules) is then proposed to robustly stabilize the open-loop system and improve the tracking performance. The first control module applies adaptive feedback linearization with projected parametric update and concentrates on robust stabilization of the closed-loop system. The second control module introduces a spatial-based repetitive controller cascaded with a loop-shaping filter, which not only further reduces the tracking error, but also improves parametric adaptation. The overall control system is robust to model uncertainties of the system and capable of rejecting position-dependent disturbances under varying process speeds. Stability proof for the overall system is given. A design example with simulation is provided to demonstrate the applicability of the proposed design. Copyright © 2008 John Wiley & Sons, Ltd. [source] Robust tracking control for a class of MIMO nonlinear systems with measurable output feedbackINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 1 2008Ya-Jun Pan Abstract This paper proposes a robust output feedback controller for a class of nonlinear systems to track a desired trajectory. Our main goal is to ensure the global input-to-state stability (ISS) property of the tracking error nonlinear dynamics with respect to the unknown structural system uncertainties and external disturbances. Our approach consists of constructing a nonlinear observer to reconstruct the unavailable states, and then designing a discontinuous controller using a back-stepping like design procedure to ensure the ISS property. The observer design is realized through state transformation and there is only one parameter to be determined. Through solving a Hamilton,Jacoby inequality, the nonlinear control law for the first subsystem specifies a nonlinear switching surface. By virtue of nonlinear control for the first subsystem, the resulting sliding manifold in the sliding phase possesses the desired ISS property and to certain extent the optimality. Associated with the new switching surface, the sliding mode control is applied to the second subsystem to accomplish the tracking task. As a result, the tracking error is bounded and the ISS property of the whole system can be ensured while the internal stability is also achieved. Finally, an example is presented to show the effectiveness of the proposed scheme. Copyright © 2007 John Wiley & Sons, Ltd. [source] Predictor-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] Sampled-data iterative learning control with well-defined relative degreeINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 8 2004Mingxuan Sun Abstract This paper addresses the problem of iterative learning control with well-defined relative degree. The solution is a family of sampled-data learning algorithms using lower-order differentiations of the tracking error with the order less than the relative degree. A unified convergence condition for the family of learning algorithms is derived and is proved to be independent of the highest order of the differentiations. In the presence of initial condition errors, the system output is ensured to converge to the desired trajectory with a specified error bound at each sampling instant. The bound will reduce to zero whenever the bound on initial condition errors tends to zero. Numerical examples are provided to illustrate the tracking performance of the proposed learning algorithms. Copyright © 2004 John Wiley & Sons, Ltd. [source] Adaptive backstepping control for a class of nonlinear systems using neural network approximationsINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 7 2004K. K. Tan In this paper, an adaptive neural network (NN) backstepping technique is developed for tracking control of a class of nonlinear systems. NNs are used to compensate for the unknown nonlinear functions in the system. A systematic backstepping approach is established to synthesize the adaptive NN control scheme that ensures the boundedness of all the signals in the closed-loop system, and yields a small tracking error. The issue of transient performance is also addressed under an analytical framework. The effectiveness of the proposed scheme is demonstrated by computer simulations. Copyright © 2004 John Wiley & Sons, Ltd. [source] Robust inverse optimal control laws for nonlinear systemsINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 15 2003Nael H. El-Farra Abstract This work proposes a robust inverse optimal controller design for a class of nonlinear systems with bounded, time-varying uncertain variables. The basic idea is that of re-shaping the scalar nonlinear gain of an LgV controller, based on Sontag's formula, so as to guarantee certain uncertainty attenuation properties in the closed-loop system. The proposed gain re-shaping is shown to yield a control law that enforces global boundedness of the closed-loop trajectories, robust asymptotic output tracking with an arbitrary degree of attenuation of the effect of uncertainty on the output, and inverse optimality with respect to a meaningful cost that penalizes the tracking error and the control action. The performance of the control law is illustrated through a simulation example and compared with other controller designs. Copyright © 2003 John Wiley & Sons, Ltd. [source] Sliding mode control of boost and buck-boost power converters using the dynamic sliding manifoldINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 14 2003Yuri B. Shtessel Abstract Non-minimum phase tracking control is studied for boost and buck-boost power converters. A sliding mode control algorithm is developed to track directly a causal voltage tracking profile given by an exogenous system. The approximate causal output non-minimum phase asymptotic tracking in non-linear boost and buck-boost power converters is addressed via sliding mode control using a dynamic sliding manifold (DSM). Use of DSM allows the stabilization of the internal dynamics when the output tracking error tends asymptotically to zero in the sliding mode. The sliding mode controller with DSM links features of conventional sliding mode control (insensitivity to matched non-linearities and disturbances) and a conventional dynamic compensator (accommodation to unmatched disturbances). Numerical examples demonstrate the effectiveness of the sliding mode controller even for a known time-varying load. Copyright © 2003 John Wiley & Sons, Ltd. [source] Robust adaptive fuzzy controller for non-affine nonlinear systems with dynamic rule activationINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 2 2003Jang-Hyun Park Abstract This paper describes the design of a robust adaptive fuzzy controller for an uncertain single-input single-output nonlinear dynamical systems. While most recent results on fuzzy controllers considers affine systems with fixed rule-base fuzzy systems, we propose a control scheme for non-affine nonlinear systems and a dynamic fuzzy rule activation scheme in which an appropriate number of the fuzzy rules are chosen on-line. By using the proposed scheme, we can reduce the computation time, storage space, and dynamic order of the adaptive fuzzy system without significant performance degradation. The Lyapunov synthesis approach is used to guarantee a uniform ultimate boundedness property for the tracking error, as well as for all other signals in the closed loop. No a priori knowledge of an upper bounds on the uncertainties is required. The theoretical results are illustrated through a simulation example. Copyright © 2002 John Wiley & Sons, Ltd. [source] Observer-based adaptive robust control of a class of nonlinear systems with dynamic uncertainties,INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 4 2001Bin Yao Abstract In this paper, a discontinuous projection-based adaptive robust control (ARC) scheme is constructed for a class of nonlinear systems in an extended semi-strict feedback form by incorporating a nonlinear observer and a dynamic normalization signal. The form allows for parametric uncertainties, uncertain nonlinearities, and dynamic uncertainties. The unmeasured states associated with the dynamic uncertainties are assumed to enter the system equations in an affine fashion. A novel nonlinear observer is first constructed to estimate the unmeasured states for a less conservative design. Estimation errors of dynamic uncertainties, as well as other model uncertainties, are dealt with effectively via certain robust feedback control terms for a guaranteed robust performance. In contrast with existing conservative robust adaptive control schemes, the proposed ARC method makes full use of the available structural information on the unmeasured state dynamics and the prior knowledge on the bounds of parameter variations for high performance. The resulting ARC controller achieves a prescribed output tracking transient performance and final tracking accuracy in the sense that the upper bound on the absolute value of the output tracking error over entire time-history is given and related to certain controller design parameters in a known form. Furthermore, in the absence of uncertain nonlinearities, asymptotic output tracking is also achieved. Copyright © 2001 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] Position and force tracking of a two-manipulator system manipulating a flexible beamJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 4 2001Dong Sun This article discusses the issue of hybrid position and force control of a two-manipulator system manipulating a flexible beam in trajectory tracking. Unlike our previous approach of set-point position control in the trajectory tracking, the system coordinates are hard to be regulated to the desired states with nonzero tracking velocities under continuous feedback control. In this study, we design a hybrid position and force tracking controller while using saturation control to compensate for the effect of beam vibration dynamics on the tracking performance. All parameters and states used in the controller are readily available so that the proposed method is feasible to implement. Under the proposed controller, the tracking error asymptotically converges to a predetermined boundary. Simulation results demonstrate the validity of the proposed approach. © 2001 John Wiley & Sons, Inc. [source] Nonlinear Modeling and Tracking Control of a Hydraulic Rotary Vane ActuatorPROCEEDINGS IN APPLIED MATHEMATICS & MECHANICS, Issue 1 2005Frank Heidtmann Rotary vane actuators as rotational drives provide rotational movements directly because they are constructed as a joint and actuator in one. So it is possible to pass on the disadvantageous transmission kinematics used with the so far usual differential cylinders at the arms of large manipulators. However, the use of hydraulic rotary vane actuators is associated with high internal oil leakage and/or high friction. Therefore, a nonlinear dynamic model for such an actuator, driving a rigid robot arm, as well as its nonlinear control are derived. To achieve tracking control a model based control law is set up using fundamental linear differential equations for the tracking error. The control law is implemented and tested on a testbed, the produced experimental results are presented. The same control algorithm can also be used to realize nonlinear disturbance attenuation for hydraulic rotary vane actuators via tracking control. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim) [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] Compensation of actuator delay and dynamics for real-time hybrid structural simulationEARTHQUAKE ENGINEERING AND STRUCTURAL DYNAMICS, Issue 1 2008M. Ahmadizadeh Abstract Compensation of delay and dynamic response of servo-hydraulic actuators is critical for stability and accuracy of hybrid experimental and numerical simulations of seismic response of structures. In this study, current procedures for compensation of actuator delay are examined and improved procedures are proposed to minimize experimental errors. The new procedures require little or no a priori information about the behavior of the test specimen or the input excitation. First, a simple approach is introduced for rapid online estimation of system delay and actuator command gain, thus capturing the variability of system response through a simulation. Second, an extrapolation procedure for delay compensation, based on the same kinematics equations used in numerical integration procedures is examined. Simulations using the proposed procedures indicate a reduction in high-frequency noise in force measurements that can minimize the excitation of high-frequency modes. To further verify the effectiveness of the compensation procedures, the artificial energy added to a hybrid simulation as a result of actuator tracking errors is measured and used for demonstrating the improved accuracy in the simulations. Copyright © 2007 John Wiley & Sons, Ltd. [source] Tracking accuracy of a semi-Lagrangian method for advection,dispersion modelling in riversINTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN FLUIDS, Issue 1 2007S. Néelz Abstract There is an increasing need to improve the computational efficiency of river water quality models because: (1) Monte-Carlo-type multi-simulation methods, that return solutions with statistical distributions or confidence intervals, are becoming the norm, and (2) the systems modelled are increasingly large and complex. So far, most models are based on Eulerian numerical schemes for advection, but these do not meet the requirement of efficiency, being restricted to Courant numbers below unity. The alternative of using semi-Lagrangian methods, consisting of modelling advection by the method of characteristics, is free from any inherent Courant number restriction. However, it is subject to errors of tracking that result in potential phase errors in the solutions. The aim of this article is primarily to understand and estimate these tracking errors, assuming the use of a cell-based backward method of characteristics, and considering conditions that would prevail in practical applications in rivers. This is achieved separately for non-uniform flows and unsteady flows, either via theoretical considerations or using numerical experiments. The main conclusion is that, tracking errors are expected to be negligible in practical applications in both unsteady flows and non-uniform flows. Also, a very significant computational time saving compared to Eulerian schemes is achievable. Copyright © 2006 John Wiley & Sons, Ltd. [source] Numerical errors of the volume-of-fluid interface tracking algorithmINTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN FLUIDS, Issue 4 2002Gregor, erne Abstract One of the important limitations of the interface tracking algorithms is that they can be used only as long as the local computational grid density allows surface tracking. In a dispersed flow, where the dimensions of the particular fluid parts are comparable or smaller than the grid spacing, several numerical and reconstruction errors become considerable. In this paper the analysis of the interface tracking errors is performed for the volume-of-fluid method with the least squares volume of fluid interface reconstruction algorithm. A few simple two-fluid benchmarks are proposed for the investigation of the interface tracking grid dependence. The expression based on the gradient of the volume fraction variable is introduced for the estimation of the reconstruction correctness and can be used for the activation of an adaptive mesh refinement algorithm. Copyright © 2002 John Wiley & Sons, Ltd. [source] Indirect adaptive control of a class of marine vehiclesINTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 4 2010Yannick Morel Abstract A nonlinear adaptive framework for bounded-error tracking control of a class of non-minimum phase marine vehicles is presented. The control algorithm relies on a special set of tracking errors to achieve satisfactory tracking performance while guaranteeing stable internal dynamics. First, the design of a model-based nonlinear control law, guaranteeing asymptotic stability of the error dynamics, is presented. This control algorithm solves the tracking problem for the considered class of marine vehicles, assuming full knowledge of the system model. Then, the analysis of the zero-dynamics is carried out, which illustrates the efficacy of the chosen set of tracking errors in stabilizing the internal dynamics. Finally, an indirect adaptive technique, relying on a partial state predictor, is used to address parametric uncertainties in the model. The resulting adaptive control algorithm guarantees Lyapunov stability of the errors and parameter estimates, as well as asymptotic convergence of the errors to zero. Numerical simulations illustrate the performance of the adaptive algorithm. Copyright © 2009 John Wiley & Sons, Ltd. [source] | ||||||||||