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Design of High Accuracy Tracking Systems with H Infinite Preview Control
Stockholm University, Faculty of Social Sciences, Department of Computer and Systems Sciences.
Stockholm University, Faculty of Social Sciences, Department of Computer and Systems Sciences.
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2014 (English)In: POLIBITS Research Journal on Computer Science and Computer Engineering With Applications, ISSN 1870-9044, Vol. 50, 21-28 p.Article in journal (Refereed) Published
Abstract [en]

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 infinite 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 infinite 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.

Place, publisher, year, edition, pages
2014. Vol. 50, 21-28 p.
Keyword [en]
Robotics, planning and scheduling, predictive control, H1 control, tracking control, control H2, frequencydomain analysis, time-domain analysis.
National Category
Information Systems
Research subject
Computer and Systems Sciences
Identifiers
URN: urn:nbn:se:su:diva-114726OAI: oai:DiVA.org:su-114726DiVA: diva2:793836
Available from: 2015-03-09 Created: 2015-03-09 Last updated: 2017-12-04Bibliographically approved

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Design of High Accuracy Tracking Systems with H Infinite Preview Control

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Rázuri, Javier G.Rahmani, RahimSundgren, David
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