A multiresolution tracking control design for non-minimum phase systems

2000 ◽  
Author(s):  
Zongxuan Sun ◽  
Tsu-Chin Tsao
Keyword(s):  
Tracking Control ◽  
Control Design ◽  
Minimum Phase ◽  
Phase Systems

Tracking Control of Non-Minimum Phase Systems Using Filtered Basis Functions: A NURBS-Based Approach

2015 ◽  
Author(s):  
Molong Duan ◽  
Keval S. Ramani ◽  
Chinedum E. Okwudire
Keyword(s):  
Tracking Control ◽  
Phase Error ◽  
Approximate Model ◽  
Basis Functions ◽  
Minimum Phase ◽  
Tracking Errors ◽  
Model Inversion ◽  
B Spline ◽  
Phase Systems ◽  
Zero Phase

This paper proposes an approach for minimizing tracking errors in systems with non-minimum phase (NMP) zeros by using filtered basis functions. The output of the tracking controller is represented as a linear combination of basis functions having unknown coefficients. The basis functions are forward filtered using the dynamics of the NMP system and their coefficients selected to minimize the errors in tracking a given trajectory. The control designer is free to choose any suitable set of basis functions but, in this paper, a set of basis functions derived from the widely-used non uniform rational B-spline (NURBS) curve is employed. Analyses and illustrative examples are presented to demonstrate the effectiveness of the proposed approach in comparison to popular approximate model inversion methods like zero phase error tracking control.

scholarly journals Tracking control for underactuated non-minimum phase multibody systems

2021 ◽  
Author(s):  
Thomas Berger ◽  
Svenja Drücker ◽  
Lukas Lanza ◽  
Timo Reis ◽  
Robert Seifried
Keyword(s):  
Tracking Control ◽  
Multibody Systems ◽  
Control Design ◽  
Differential Algebraic Equations ◽  
Minimum Phase ◽  
Algebraic Equations ◽  
Internal Dynamics ◽  
Kinematic Loops ◽  
Servo Constraints ◽  
Kinematic Loop

AbstractWe consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of differential-algebraic equations that cannot be reformulated as ordinary differential equations in general. We propose a control strategy which combines a feedforward controller based on the servo-constraints approach with a feedback controller based on a recent funnel control design. As an important tool for both approaches, we present a new procedure to derive the internal dynamics of a multibody system. Furthermore, we present a feasible set of coordinates for the internal dynamics avoiding the effort involved with the computation of the Byrnes–Isidori form. The control design is demonstrated by a simulation for a nonlinear non-minimum phase multi-input, multi-output robotic manipulator with kinematic loop.

New Approach of Tracking Control for a Class of Non-Minimum Phase Linear Systems

2007 ◽  
Author(s):  
Bo Xie ◽  
Bin Yao
Keyword(s):  
Linear Systems ◽  
Trajectory Planning ◽  
Tracking Control ◽  
Controller Design ◽  
Tracking Error ◽  
Trajectory Design ◽  
Minimum Phase ◽  
Control Approach ◽  
Tracking Controller ◽  
Phase Systems

The paper presents a new tracking control approach for a class of non-minimum phase linear systems. The proposed approach consists of two parts: trajectory planning and tracking controller design. The trajectory planning is solved as an optimization problem to improve the achievable transient performance under the fundamental constraints associated with perfect tracking of non-minimum phase systems. The recently proposed adaptive robust tracking controller for a class of non-minimum phase systems is then applied to guarantee that the tracking error dynamics can be stabilized with bounded internal states. The effectiveness of the proposed approach is illustrated through simulation on tracking control of a second order non-minimum phase linear system. Further works are underway to extend the proposed control strategy and trajectory design to a class of non-minimum phase nonlinear systems.

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