Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Tracking control by the Newton-Raphson method with output prediction and controller speedup
Y. Wardi, C. Seatzu, J. Cortés, M. Egerstedt, S. Shivam, I. Buckley
International Journal of Robust and Nonlinear Control
34 (1) (2024), 397-422
Abstract
This paper presents a control technique for output tracking of
reference signals in continuous-time dynamical systems. The technique
is comprised of the following three elements: (i) output prediction
which has to track the reference signal, (ii) a controller based on an
integrator with variable gain, and (iii) a speedup of the control
action for enhancing the tracker's accuracy and, in some cases,
guaranteeing stability of the closed- loop system. The technique is
suitable for linear and nonlinear systems, implementable by simple
algorithms, can track reference points as well as time-dependent
reference signals, and may have large, even global domains of
attraction. The derived theoretical results include convergence of the
tracking controller and error analysis, and are supported by
illustrative simulation and laboratory experiments.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
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jorgilliyo