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The approach uses a stable manifold tracking objective in a computationally efficient, optimization-based switching control design.
A new Lyapunov function dependent on the controllers' switching signal is constructed, which can effectively counteract the difficulty of controller design to achieve tracking objective under asynchronous switching.
The resulting network-based PI control system is described by an augmented system with two input delays and the output tracking objective is transformed into ensuring asymptotic stability of the augmented system.
The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controller that compensates the dynamics of the mobile manipulator.
The results suggest that the subjective system (tracking subjective beliefs) and the objective system (tracking objective evidence) are dissociable in the human brain, with the former feeding information into sensory areas and the latter representing prediction errors on a higher level.
Then the synchronous tracking objective can be realized.
Similar(38)
Also, a regulator for disturbance rejection and a servo system for tracking objectives are presented.
With full state measurements, both rotor speed and rotor flux amplitude tracking objectives are satisfied.
In addition, for tracking objectives in short command times, sliding mode controller performs more appropriately.
Using an observer to estimate state variables, a hybrid control system including regulation system for disturbance rejection and nonlinear control system for tracking objectives is designed.
Achievement of tracking objectives is investigated for various desired commands of indoor temperature and relative humidity; including a sequence of steps and ramps-steps.
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