Displaying similar documents to “A comparison of two FEM-based methods for the solution of the nonlinear output regulation problem”

Rotary inverted pendulum: trajectory tracking via nonlinear control techniques

Luis E. Ramos-Velasco, Javier Ruiz, Sergej Čelikovský (2002)

Kybernetika

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The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal forms, output regulation and sliding mode...

A variable structure observer for the control of robot manipulators

Abdelkader Abdessameud, Mohamed Khelfi (2006)

International Journal of Applied Mathematics and Computer Science

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This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities andor uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee...

On the interaction between theory experiments and simulation in developing practical learning control algorithms

Richard Longman (2003)

International Journal of Applied Mathematics and Computer Science

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Iterative learning control (ILC) develops controllers that iteratively adjust the command to a feedback control system in order to converge to zero tracking error following a specific desired trajectory. Unlike optimal control and other control methods, the iterations are made using the real world in place of a computer model. If desired, the learning process can be conducted both in the time domain during each iteration and in repetitions, making ILC a 2D system. Because ILC iterates...

Structurally stable design of output regulation for a class of nonlinear systems

Celia Villanueva-Novelo, Sergej Čelikovský, Bernardino Castillo-Toledo (2001)

Kybernetika

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The problem of output regulation of the systems affected by unknown constant parameters is considered here. The main goal is to find a unique feedback compensator (independent on the actual values of unknown parameters) that drives a given error (control criterion) asymptotically to zero for all values of parameters from a certain neighbourhood of their nominal value. Such a task is usually referred to as the structurally stable output regulation problem. Under certain assumptions, such...

Finite horizon nonlinear predictive control by the Taylor approximation application to robot tracking trajectory

Ramdane Hedjar, Redouane Toumi, Patrick Boucher, Didier Dumur (2005)

International Journal of Applied Mathematics and Computer Science

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In industrial control systems, practical interest is driven by the fact that today's processes need to be operated under tighter performance specifications. Often these demands can only be met when process nonlinearities are explicitly considered in the controller. Nonlinear predictive control, the extension of well-established linear predictive control to nonlinear systems, appears to be a well-suited approach for this kind of problems. In this paper, an optimal nonlinear predictive...