Control of Electrical Drives
Second-order nonlinear trajectory smoother for position control of linear switched reluctance motor
International Journal of Modelling and Simulation
Adaptive control with composite learning for tubular linear motors with micro-metric tolerances
ACC'09 Proceedings of the 2009 conference on American Control Conference
PLC-based control of a robot manipulator with closed kinematic chain
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Memetic compact differential evolution for cartesian robot control
IEEE Computational Intelligence Magazine
Brief Discrete minimum time tracking problem for a chain of three integrators with bounded input
Automatica (Journal of IFAC)
Hi-index | 22.15 |
A nonlinear variable structure (VS) system is presented, suitable for smooth trajectory generation in motion control system. Joined to a rough reference trajectory generator (step, ramp, etc.) it provides smooth output signals according to user-selectable bounds on trajectory derivatives. The bounds on output derivatives can be changed during system operation without impairing system stability. Moreover, minimum time response with guaranteed no overshoot is ensured both in the continuous and discrete-time implementations. The main contribution of the paper lies in the discrete-time version of the trajectory generator. The performance of the proposed nonlinear filters is tested through simulation experiments. Simulation results concerning the use of the discrete filter in a position tracking control system are also presented.