Design of High Accuracy Tracking Systems with H_∞ Preview Control

 

Antonio Moran Cardenas¹, Javier G. Rázuri^2*, Isis Bonet³, Rahim Rahmani², and David Sundgren²

 

¹ Pontifical Catholic University of Perú PUCP, Lima, Perú. (e-mail: amoran@pucp.edu.pe).

² Stockholm University (DSV), Department of Computer and Systems Sciences, Sweden. *Corresponding author (e-mail: javier@dsv.su.se, rahim@dsv.su.se, dsn@dsv.su.se).

³ Antioquia School of Engineering (EIA-GISMOC), Colombia. (e-mail: pfibonet@eia.edu.co).

 

Manuscript received on July 29, 2014
Accepted for publication on September 22, 2014
Published on November 15, 2014.

 

Abstract

Positioning and tracking control systems are an important component of autonomous robot applications. This paper presents the design method of tracking control systems based on H_∞ preview control where the present and future desired positions of the robot are used to determine the control actions to be applied so that the robot describes the desired trajectory as close as possible. The performance improvements achieved with H_∞ preview control have been examined in the frequency and time domains for different types of reference signals when applied to a one-dimensional positioning system. It was found that preview control improves the tracking performance by improving the phase response of the tracking system.

Key words: Robotics, planning and scheduling, predictive control, H_∞ control, tracking control, control H₂, frequency-domain analysis, time-domain analysis.

 

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