Sampled tracking for delayed systems using piecewise functioning controller

Wang, H.P.; Vasseur, Christian; Chamroo, Afzal; Koncar, V.

doi:10.1109/cesa.2006.4281843

Cited by 5 publications

(2 citation statements)

References 7 publications

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“…This controller uses only the system position measurement and doesn't require any identification of electromechanical system parameters, such as parameters in the friction model, rotor inertia, etc. RMFC is based on the theory of Piecewise Continuous Systems (PCS) which were first introduced in [9] and then developed in [10][11][12][13][14][15]. According to the classification [16] PCS are hybrid systems with autonomous switching and controlled impulses.…”

Section: Introductionmentioning

confidence: 99%

Recursive model free controller: Application to friction compensation and trajectory tracking

Wang

Vasseur

Tian

et al. 2011

Int. J. Control Autom. Syst.

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In this paper friction compensation and trajectory tracking scheme is proposed for an X-Y robot using a Recursive Model Free Controller (RMFC). This controller is based on the theory of piecewise continuous systems which are a particular class of hybrid systems with autonomous switchings and controlled impulses. RMFC uses only the robot position measurements and does not require knowledge of electromechanical system parameters. The proposed control scheme is validated on a real time X-Y robot system.

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Section: Introductionmentioning

confidence: 99%

Recursive model free controller: Application to friction compensation and trajectory tracking

Wang

Vasseur

Tian

et al. 2011

Int. J. Control Autom. Syst.

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“…Based on PCS theory, a Piecewise Continuous Controller (PCC) was developed in [13], [15], [19] enabling sampled tracking of linear time-invariant systems by undertaking a state feedback or a delayed sampled output Then, a derived PCC with sampling period trending to zero and a piecewise continuous observer for nonlinear mechanical systems were proposed [16]- [20].…”

Section: Introductionmentioning

confidence: 99%

Recursive Model Free Controller for trajectory tracking of MIMO nonlinear systems

Wang¹,

Vasseur²,

Končar³

et al. 2010

18th Mediterranean Conference on Control and Automation, MED'10

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This paper deals with a new Recursive Model Free Controller for trajectory tracking of MIMO nonlinear systems whose structure is simple and dose not depend on any physical model. The proposed controller is based on the theory of a particular class of hybrid systems, called Piecewise Continuous Systems, which are characterized by autonomous switchings and controlled impulses. The effectiveness and robustness of the proposed controller is experimented on a three tank system. 978-1-4244-8092-0/10/$26.00 ©2010 IEEE

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