A design method for digital tracking control is described and applied to control an arm robot with structured uncertainties. A two-degree-of-freedom control system configuration provides the desired feedback and input-output performances independently. Regarding controller design, first, sampled-data control and linear matrix inequality approaches are used to design a reduced-order output feedback controller. Then, the feedforward controller is parameterized based on the feedback controller, with the free parameter being chosen based on a preview strategy.
Two-Degree-of-Freedom Optimal Preview Tracking Control: A Mechatronic Design Example
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, October 1999; final revision, May 2002. Associate Editor: Y. Chait.
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She , J., Xin , X., and Ohyama , Y. (December 16, 2002). "Two-Degree-of-Freedom Optimal Preview Tracking Control: A Mechatronic Design Example ." ASME. J. Dyn. Sys., Meas., Control. December 2002; 124(4): 704–709. https://doi.org/10.1115/1.1515332
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