Model Predictive Tracking Control Design for a Robotic Fish with Controllable Barycentre

2019 ◽  
Author(s):  
Xingwen Zheng ◽  
Hua Chen ◽  
Ouyang Jiao ◽  
Minglei Xiong ◽  
Wei Zhang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Control Design ◽  
Robotic Fish

Robust Tracking Control for Takagi–Sugeno Fuzzy Systems With Unmeasurable Premise Variables: Application to Tank System

2014 ◽  
Vol 136 (4) ◽  
Author(s):  
H. Ghorbel ◽  
A. El Hajjaji ◽  
M. Souissi ◽  
M. Chaabane
Keyword(s):  
Tracking Control ◽  
Fuzzy Systems ◽  
Design Procedure ◽  
Control Design ◽  
Linear Matrix ◽  
Robust Tracking Control ◽  
Fuzzy Observer ◽  
Tank System ◽  
System States ◽  
Takagi Sugeno

In this paper, a robust fuzzy observer-based tracking controller for continuous-time nonlinear systems presented by Takagi–Sugeno (TS) models with unmeasurable premise variables, is synthesized. Using the H∞ norm and Lyapunov approach, the control design for TS fuzzy systems with both unmeasurable premises and system states is developed to guarantee tracking performance of closed loop systems. Sufficient relaxed conditions for synthesis of the fuzzy observer and the fuzzy control are driven in terms of linear matrix inequalities (LMIs) constraints. The proposed method allows simplifying the design procedure and gives the observer and controller gains in only one step. Numerical simulation on a two tank system is provided to illustrate the tracking control design procedure and to confirm the efficiency of the proposed method.

Embedded Vision-Guided 3-D Tracking Control for Robotic Fish

2016 ◽  
Vol 63 (1) ◽  
pp. 355-363 ◽  
Author(s):  
Junzhi Yu ◽  
Feihu Sun ◽  
De Xu ◽  
Min Tan
Keyword(s):  
Tracking Control ◽  
Robotic Fish ◽  
Embedded Vision

scholarly journals Invariant tracking control design via integrator backstepping

PAMM ◽  
2010 ◽  
Vol 10 (1) ◽  
pp. 603-604 ◽  
Author(s):  
Carsten Collon ◽  
Joachim Rudolph
Keyword(s):  
Tracking Control ◽  
Control Design ◽  
Integrator Backstepping
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