...: YangQuan Chen. 04 03 2013 30 12 2014 09 02 2015 This paper proposes a sliding mode based repetitive learning control method for high-precision tracking of robot manipulators with actuator saturation. Advantages of the proposed control include the absence of model parameter...

... pneumatic table motion system with a vane-type air motor, and to design a backstepping sliding mode controller for this system. A proportional integral derivative controller compared with this new backstepping design. The tracking circle error and tracking error of the two axes are noted. The experimental...

...Kyong-Soo Kim; Qingze Zou; Chanmin Su In this article, two practical issues encountered in the design and track of scan trajectories are studied: One issue is the large output oscillations occurring during the scanning, and the other one is the effect of modeling errors on trajectory tracking...

...Huai-Ning Wu; Ming-Zhen Bai This paper studies the problem of H ∞ fuzzy tracking control design for nonlinear active fault tolerant control systems based on the Takagi and Sugeno fuzzy model. Two random processes with Markovian transition characteristics are introduced to model the system component...

... enables a very efficient control implementation of approximately time-optimal moves. The switched control approach is generalized for presenting simplified approximate solutions for the tracking problem and other optimal control problems with singular arcs. Smith , O. J. M. , 1958 , Feedback...

...Michael C. Reynolds; Peter H. Meckl This work presents a novel technique for the solution of an optimal input for trajectory tracking. Many researchers have documented the performance advantages of command shaping, which focuses on the design of an optimal input. Nearly all research in command...

...R. Prasanth Kumar; Anirvan Dasgupta; C. S. Kumar This paper proposes a new tracking controller for autonomous underwater vehicles (AUVs) using the concept of simultaneous quadratic stabilization. The nonlinear underwater vehicle system is viewed as a set of locally linear time invariant systems...

...R. S. Sharp The main objectives of the work described are to devise an effective path-based motorcycle simulation capability and to add to understanding of how riders control motorcycles. Optimal linear preview control theory was previously applied to the tracking of a roadway by a car, using...

... and compared to experiments to understand scan distortions, such as, toroid, swirl, and beating. A feedback linearized linear quadratic regulator based on error dynamics drives the tracking error to zero. Controller simulations determine robustness limits, and effects of fiber nonlinearities and actuator time...

...Lu Ren; James K. Mills; Dong Sun In this paper, we develop a new control method, termed adaptive synchronized (A-S) control, for improving tracking accuracy of a P-R-R type planar parallel manipulator with parametric uncertainty. The novelty of A-S control, a combination of synchronized control...

... Institute of Technology to reduce crane payload oscillation. The crane was used to study the performance of human operators as they drove the crane through obstacle courses. An image processing system was implemented to track the movement of the crane payload. Data from these experiments show that operators...

... and design complexity, singularity avoidance reduces the effective workspace of a parallel manipulator. This article presents a path tracking type of approach to operate parallel manipulators when passing through force singularities. We study motion feasibility in the neighborhood of singularity and conclude...

...Matt Bement; Suhada Jayasuriya, Kotzebue Endowed Professor The problem of tracking a known reference without overshooting is of great practical importance in a number of applications. However, nonminimum phase systems have received little attention in connection with obtaining a nonovershooting...

...Matt Bement; Suhada Jayasuriya The problem of tracking a known reference without overshooting is of great practical importance in a number of applications. However, nonminimum phase systems and systems with reference inputs other than steps have received very little attention. This paper proposes...

...Edward Boje An algorithm for calculating design bounds in multivariable quantitative feedback theory (QFT) tracking design is presented. The algorithm solves the problem of trade-off between on- and off-diagonal constraints. Contributed by the Dynamic Systems, Measurement, and Control Division...

... Conference Robotics and Automation , Seoul , Korea, pp. 2553 – 2559 . Sun , Z. , and Tsao , T.-C. , 2000 , “ Adaptive Control With Asymptotic Tracking Performance and Its Application to an Electro-Hydraulic Servo System ,” ASME J. Dyn. Syst., Meas., Control 0022-0434 10.1115/1.482441...

... inputs based on the backstepping design methodology. The proposed controllers guarantee that the tracking errors converge to a residual set close to zero exponentially for both state feedback and output feedback designs, while maintaining the boundedness of all other variables. Isidori, A., 1995...

.... Based on the nonlinear system model derived here ( 37a 37b ), several PID, linear, and nonlinear tracking controllers have been derived and simulated 2 . It was found that PID controllers can become unstable and linear controllers have steady state errors. Nonlinear robust state-space tracking...

... to friction effects, tracking errors, etc., the actual motion of the master robot may differ from its desired motion. Also the bounds V M , A M , D M , and E M can be obtained by considering the structural limitations of the robots, such as maximum...

... to regulate the output error. Finally, some experimental results are validated the excellent tracking performances of the proposed controller. King , T. G. , Preston , M. E. , Murphy , B. J. M. , and Cannell , D. S. , 1990 , “ Piezoelectric Ceramic Actuators: A Review of Machinery...