Design of High Accuracy Tracking Systems with H1 Preview Control
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| Natura: | Artículo científico |
| Lingua: | en |
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Instituto Politécnico Nacional
2014
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| _version_ | 1876424718190379008 |
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| author | Antonio Moran Cardenas |
| author_facet | Antonio Moran Cardenas |
| contents | Design of High Accuracy Tracking Systems with H1 Preview Control Antonio Moran Cardenas Javier G. Rázuri Isis Bonet Rahim Rahmani David Sundgren Computación time time Robotics Robotics H1 control Positioning and tracking control systems are animportant component of autonomous robot applications. Thispaper presents the design method of tracking control systemsbased on H1 preview control where the present and futuredesired positions of the robot are used to determine the controlactions to be applied so that the robot describes the desiredtrajectory as close as possible. The performance improvementsachieved with H1 preview control have been examined in thefrequency and time domains for different types of referencesignals when applied to a one-dimensional positioning system.It was found that preview control improves the trackingperformance by improving the phase response of the trackingsystem. 2014 artículo científico 1870-9044 https://www.redalyc.org/articulo.oa?id=402640464004 en http://www.redalyc.org/revista.oa?id=4026 Polibits application/pdf Instituto Politécnico Nacional Polibits (México) Vol.50 |
| format | Artículo científico |
| id | redalyc_402640464004 |
| institution | Redalyc |
| language | en |
| publishDate | 2014 |
| publisher | Instituto Politécnico Nacional |
| spellingShingle | Design of High Accuracy Tracking Systems with H1 Preview Control Antonio Moran Cardenas Computación time time Robotics Robotics H1 control Design of High Accuracy Tracking Systems with H1 Preview Control Antonio Moran Cardenas Javier G. Rázuri Isis Bonet Rahim Rahmani David Sundgren Computación time time Robotics Robotics H1 control Positioning and tracking control systems are animportant component of autonomous robot applications. Thispaper presents the design method of tracking control systemsbased on H1 preview control where the present and futuredesired positions of the robot are used to determine the controlactions to be applied so that the robot describes the desiredtrajectory as close as possible. The performance improvementsachieved with H1 preview control have been examined in thefrequency and time domains for different types of referencesignals when applied to a one-dimensional positioning system.It was found that preview control improves the trackingperformance by improving the phase response of the trackingsystem. 2014 artículo científico 1870-9044 https://www.redalyc.org/articulo.oa?id=402640464004 en http://www.redalyc.org/revista.oa?id=4026 Polibits application/pdf Instituto Politécnico Nacional Polibits (México) Vol.50 |
| title | Design of High Accuracy Tracking Systems with H1 Preview Control |
| topic | Computación time time Robotics Robotics H1 control |
| url | https://www.redalyc.org/articulo.oa?id=402640464004 |