It acts as a command generator giving commands only to a small portion of the networked group.
A command generator tracker (CGT) is designed for a sample teleoperation system and the results are compared with the proposed system.
For the synthesis of control system, the measured output error and the states of a third-order command generator are used.
The leader node, modeled as a higher-order non-autonomous nonlinear system, acts as a command generator giving commands only to a small portion of the networked follower nodes.
Combining this system with a command generator for making the preview information, a stochastic optimal tracking control based on the noisy observation data is constructed for the resultant system.
The overall control law consists of three hierarchical layers, namely, the kernel control, command generator and flight scheduling, and is implemented and verified in flight tests on the actual UAV helicopter.
In this paper, the decentralized tracking problem for nonlinear large-scale interconnected systems is firstly transformed to optimal regulation problem for N augmented subsystems composed of the error system dynamics and the command generator dynamic associated with each isolated subsystems.
This paper describes a glidepath command generator for indirect altitude control and presents an auto-landing controller for glide-slope tracking and flare maneuver via adaptive backstepping, in order to provide precise altitude trajectories for auto-landing of unmanned aerial vehicles.
According to this method, we can maintain a stability of closed-loop system by the eventual sliding mode control term with a switching signal generated by the addition of controlled plant output and the parallel feedforward dynamic compensator output, and can realize a output following for a reference model based on CGT (Command Generator Tracker) approach.
Recent evidence (Chen-Harris et al., 2008) suggests that the fast system has the structure of a forward internal model and the slow system could be a motor command generator.
