Title :
Delayed-error equations for controller design
Author :
Garcia, A.G. ; Vallin, S.V. ; Martinez, L.A.M.
Author_Institution :
Sci. in Eng., Univ. Politec. de Aguascalientes, Aguascalientes, Mexico
Abstract :
A methodology to solve the trajectory tracking problem for systems with a noisy position signal is proposed in this paper. Such signal is obtained from a direct measurement, and must be filtered to reduce unwanted noise, and to estimate its time-derivative. It is shown that the use of delay-differential error equations is instrumental to achieve the stability despite a constant delay, which is inherent to the filtering process.
Keywords :
control system synthesis; delay-differential systems; delays; differential equations; filtering theory; signal processing; stability; tracking; trajectory control; DDE; constant delay; controller design; delay-differential error equations; filtering process; noisy position signal; stability; time-derivative estimatation; trajectory tracking problem; unwanted noise reduction; Delay; Equations; Finite impulse response filter; Mathematical model; Noise; Noise measurement; Trajectory; Trajectory tracking; delayed PD; noise;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4673-2170-9
DOI :
10.1109/ICEEE.2012.6421142
