NDLI: ZG controllers for output tracking of nonlinear mass-spring-damper mechanical system with division-by-zero problem solved

Content Provider	IEEE Xplore Digital Library
Author	Yunong Zhang Ying Wang Yonghua Yin Long Jin Dechao Chen
Copyright Year	2013
Description	Author affiliation: Sch. of Inf. Sci. & Technol., Sun Yat-sen Univ. (SYSU), Guangzhou, China (Yunong Zhang; Ying Wang; Yonghua Yin; Long Jin; Dechao Chen)
Abstract	Recently, two classes of dynamical methods, i.e., Zhang dynamics (ZD) and gradient dynamics (GD), have been widely investigated individually and comparatively for online time-varying problems solving. In this paper, by combining ZD and GD, an innovative method called Zhang-gradient (ZG) method is proposed for tracking control of a nonlinear mass-spring-damper (MSD) mechanical system. Simulation results substantiate the feasibility and effectiveness of the combined ZG method for handling both the explicit and implicit tracking-control problems. Especially, the z1g1 controller based on the ZG method for the implicit tracking control is also capable of conquering the division-by-zero problem.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1845
Ending Page	1850
File Size	489845
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739736
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechanical systems Trajectory Aerodynamics Nonlinear dynamical systems Educational institutions Robots Problem-solving
Content Type	Text
Resource Type	Article

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