| Journal: | Polibits |
| Database: | PERIÓDICA |
| System number: | 000382839 |
| ISSN: | 1870-9044 |
| Authors: | Moran Cardenas, Antonio1 Rázuri, Javier G2 Bonet, Isis3 Rahmani, Rahim2 Sundgren, David2 |
| Institutions: | 1Pontificia Universidad Católica del Perú, Lima. Perú 2Stockholm University, Department of Computer and Systems Sciences, Estocolmo. Suecia 3Escuela de Ingeniería de Antioquia, Medellín, Antioquia. Colombia |
| Year: | 2014 |
| Season: | Jul-Dic |
| Number: | 50 |
| Pages: | 21-28 |
| Country: | México |
| Language: | Inglés |
| Document type: | Artículo |
| Approach: | Aplicado, descriptivo |
| English abstract | 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∞ 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∞ 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 |
| Disciplines: | Ciencias de la computación, Ingeniería |
| Keyword: | Ingeniería biónica y cibernética, Robótica, Control de rastreo, Control predictivo, Análisis en el dominio de la frecuencia, Análisis en el dominio del tiempo |
| Keyword: | Computer science, Engineering, Bionics and cybernetics, Robotics, Tracking control, Predictive control, Frequency domain analysis, Time domain analysis |
| Full text: | Texto completo (Ver HTML) |
