Signal transformation approach to tracking control with arbitrary references

Title: Signal transformation approach to tracking control with arbitrary references
Creator: Bazaei, Ali; Moheimani, S. O. Reza
Relation: ARC
Relation: IEEE Transactions on Automatic Control Vol. 57, Issue 9, p. 2294-2307
Publisher Link: http://dx.doi.org/10.1109/TAC.2012.2186474
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2012
Description: In this paper, we introduce a signal transformation (ST) methodology for tracking control of a large class of arbitrary references. The method can improve tracking performance of ordinary one-degree-of-freedom (1-DoF) feedback control structure, while keeping robustness against unmodeled dynamics and limiting the projected measurement noise by ensuring a low closed-loop bandwidth. Using singular perturbation theory, sufficient conditions for stability and convergence of the tracking error are derived. Effectiveness of the proposed method is demonstrated by simulations. It is shown how ST method can provide a better control performance compared to ordinary 2-DoF feedback control systems having similar projected noise power, and maintain robustness against uncertainties, disturbances, and unmodeled dynamics.
Subject: arbitrary reference tracking; hybrid control system; signal transformation; singular perturbation
Identifier: http://hdl.handle.net/1959.13/1309287
Identifier: uon:21828
Identifier: ISSN:0018-9286
Language: eng
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