Circle-type criterion for synthesis of robust tracking controllers

1988 ◽  
Vol 48 (3) ◽  
pp. 865-886 ◽  
Author(s):  
SUHADA JAYASURIYA ◽  
CHANG-DOO KEE
Keyword(s):  
Robust Tracking ◽  
Tracking Controllers ◽  
Type Criterion

scholarly journals Design of Robust Tracking Controllers Using Sliding Mode Technique.

2001 ◽  
Vol 44 (1) ◽  
pp. 89-95 ◽  
Author(s):  
Chih-Chiang CHENG ◽  
Jia-Ming HSIAO ◽  
Yuh-Pyng LEE
Keyword(s):  
Sliding Mode ◽  
Robust Tracking ◽  
Tracking Controllers ◽  
Mode Technique ◽  
Sliding Mode Technique

Simple Robust r − α Tracking Controllers for Uncertain Fully-Actuated Mechanical Systems

1997 ◽  
Vol 119 (4) ◽  
pp. 821-825 ◽  
Author(s):  
Salah Zenieh ◽  
Martin Corless
Keyword(s):  
Numerical Simulation ◽  
Rate Of Convergence ◽  
Lyapunov Functions ◽  
Controller Design ◽  
Mechanical Systems ◽  
Robotic Manipulator ◽  
Robust Tracking ◽  
Robotic Control ◽  
Tracking Controllers ◽  
Simulation Results

We consider the problem of designing robust tracking controllers for uncertain fully-actuated mechanical systems. We propose controllers which are robust r − α tracking controllers in the following sense. For a prespecified rate of convergence α > 0 and a prespecified tolerance r > 0, a proposed controller guarantees that the system’s trajectory exponentially converges to any desired trajectory with rate a and to within the tolerance r. Controller design is based on Lyapunov functions. The main advantage of these controllers is their simplicity. These controllers do not use the regressor matrix made popular in the area of robotic control which makes them simple to implement. Application to a two-link robotic manipulator is presented. Numerical simulation results are included.

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