Trajectory planning for the tracking control of systems with unstable zeros

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dc.contributor.authorPark, Hyung-Soonko
dc.contributor.authorChang, Pyung-Hunko
dc.contributor.authorLee, Doo Yongko
dc.date.accessioned2009-12-07T07:46:54Z-
dc.date.available2009-12-07T07:46:54Z-
dc.date.created2012-02-06-
dc.date.created2012-02-06-
dc.date.issued2003-03-
dc.identifier.citationMECHATRONICS, v.13, no.2, pp.127 - 139-
dc.identifier.issn0957-4158-
dc.identifier.urihttp://hdl.handle.net/10203/14312-
dc.description.abstractIn this paper, a trajectory control strategy for a nonminimum phase system is proposed. A continuous-time version of the zero-phase error-tracking controller (ZPETC), a well-known discrete-time feedforward controller for tracking control of a nonminimum phase system, is derived. The performance of the continuous ZPETC is further enhanced by adopting a specially designed sinusoidal trajectory to compensate gain error. The sinusoidal trajectory has a synergic effect on tracking performance when combined with the continuous ZPETC. The effectiveness of continuous ZPETC with sinusoidal trajectory is confirmed through simulation and experiment of a nonminimum phase plant, a single link flexible arm. (C) 2002 Elsevier Science Ltd. All rights reserved.-
dc.languageEnglish-
dc.language.isoen_USen
dc.publisherPERGAMON-ELSEVIER SCIENCE LTD-
dc.titleTrajectory planning for the tracking control of systems with unstable zeros-
dc.typeArticle-
dc.identifier.wosid000180243100004-
dc.identifier.scopusid2-s2.0-0037332694-
dc.type.rimsART-
dc.citation.volume13-
dc.citation.issue2-
dc.citation.beginningpage127-
dc.citation.endingpage139-
dc.citation.publicationnameMECHATRONICS-
dc.embargo.liftdate9999-12-31-
dc.embargo.terms9999-12-31-
dc.contributor.localauthorPark, Hyung-Soon-
dc.contributor.localauthorChang, Pyung-Hun-
dc.contributor.localauthorLee, Doo Yong-
dc.type.journalArticleArticle-
dc.subject.keywordAuthortrajectory control-
dc.subject.keywordAuthortrajectory generation-
dc.subject.keywordAuthorunstable zero-
dc.subject.keywordAuthorphase error-
dc.subject.keywordAuthorgain error-
dc.subject.keywordAuthorflexible arm-
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