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Citation

Bláha Lukáš and Schlegel Miloš : TRACKING CONTROL VIA DYNAMIC INVERSION . Process Control 2008, vol. ;, p. 1-8, University of Pardubice, Kouty nad Desnou, 2008.

Abstract

This paper deal with dynamic inversion with application to nonlinear tracking control. Tracking of implicitly defined trajectories is examined. Dynamic inversion is incorporated into the controller to provide a continuous estimate of the parameters necessary for control. This estimate is incorporated into the tracking law. This allows nonlinear control systems to be posed entirely in continuous-time. We demonstrate, by application to the tracking problem for the parallel robot, that the "dynamic inverter" provides exponential output tracking of the implicitly defined trajectory.

Detail of publication

Title: TRACKING CONTROL VIA DYNAMIC INVERSION
Author: Bláha Lukáš ; Schlegel Miloš
Language: English
Year: 2008
Type of publication: Papers in proceedings of reviewed conferences
Title of journal or book: Process Control 2008
Číslo vydání: ;
Page: 1 - 8
ISBN: 978-80-7395-077-4
Publisher: University of Pardubice
Address: Kouty nad Desnou
Date: 12 Jun 2008
2011-03-15 16:21:30 / 2011-03-15 16:21:30 / 1

Keywords

dynamic inversion, trajectory tracking, nonlinear map, parallel robot

BibTeX

@INPROCEEDINGS{BlahaLukas_2008_TRACKINGCONTROLVIA,
 author = {Bl\'{a}ha Luk\'{a}\v{s} and Schlegel Milo\v{s}},
 title = {TRACKING CONTROL VIA DYNAMIC INVERSION},
 year = {2008},
 publisher = {University of Pardubice},
 journal = {Process Control 2008},
 address = {Kouty nad Desnou},
 volume = {;},
 pages = {1-8},
 ISBN = {978-80-7395-077-4},
 url = {http://www.kky.zcu.cz/en/publications/BlahaLukas_2008_TRACKINGCONTROLVIA},
}