Trajectory tracking of a class of uncertain systems applied to vehicle platooning and antenna scanning systems. (English) Zbl 1482.93147
Summary: The tracking problem is considered for a recurring class of systems, such as the Cartesian robots with real actuators, some transportation systems, and scanning devices used for medical and engineering applications. Some theorems are proved to design a PD type controller, with a possible compensation signal, in order to track sufficiently smooth trajectories with a prescribed maximum error. The developed design methodology is illustrated through two engineering examples. The first example concerns the safety distance control of an electric vehicles fleet. The second example deals with the identification of an antenna scanning system and the prototype design of a new controller that provides better performance than the current one.
MSC:
| 93B35 | Sensitivity (robustness) |
| 93C41 | Control/observation systems with incomplete information |
| 93C10 | Nonlinear systems in control theory |
| 93C28 | Positive control/observation systems |
Keywords:
robust controller design; robust tracking; uncertain nonlinear systems; positive control systems; antenna scanning system; vehicle platooning controlReferences:
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