Design of High Accuracy Tracking Systems with H Infinite Preview Control
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
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.
Robotics, planning and scheduling, predictive control, H1 control, tracking control, control H2, frequencydomain analysis, time-domain analysis.
Research subject Computer and Systems Sciences
IdentifiersURN: urn:nbn:se:su:diva-114726OAI: oai:DiVA.org:su-114726DiVA: diva2:793836