Derived piecewise continuous controller: application to nonlinear mechanical robot's trajectory tracking

• Autorzy: Wang H. , Vasseur C. , Koncar V. , Chamroo A. , Christov N.
• Języki publikacji: EN

Abstrakty

EN

In this paper, a derived piecewise continuous controller based method for an X-Y robot system trajectory tracking is proposed. The controller, which is based on the theory of particular hybrid systems called piecewise continuous systems characterized by autonomous switching and controlled impulses, uses only the robot's position measurement for feedback and does not require any identification work of the electromechanical system. The effectiveness and robustness of the method developed are analyzed theoretically and experimented with different type references on a real time X-Y robot system.

Słowa kluczowe

EN

piecewise continuous system; derived piecewise continuous controller; nonlinear mechanical system; damper; trajectory

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2009
• Tom: Vol. 35, no 4
• Strony: 39--48
• Opis fizyczny: Bibliogr. 14 poz., rys., wykr.

Twórcy

autor

Wang H.

autor

Vasseur C.

autor

Koncar V.

autor

Chamroo A.

autor

Christov N.

• Lille University of Science and Technology Batiment P2, LAGIS CNRS FRE 3033 Laboratory UFR d'IEEA, 59655 Villeneuve d'ASCQ, France,

Bibliografia

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