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- W4238609946 abstract "In a motion control system the role of a controller is to impose the desired acceleration by inserting additional forces onto the system input, thus the synthesis of the desired system acceleration is one of the central issues in design. In order to avoid a discussion of many different tasks and their peculiarities, in this chapter, design will be shown for a trajectory tracking problem in which output defined as a function of system coordinates is required to track its reference. Control plant analysis and formulation of the control task within a suitable framework are the key issues in such an approach to motion control system design. In acceleration control framework, synthesis of control of mechanical system is a two-step procedure. Control input enforces Lyapunov stability for the selected structure of the Laypunov function candidate and its time derivative. Analysis shows that this structure allows exponential or finite-time convergence. Controlled Vocabulary Terms acceleration control; control systems; convergence; Lyapunov methods; motion control; trajectory control" @default.
- W4238609946 created "2022-05-12" @default.
- W4238609946 date "2011-01-26" @default.
- W4238609946 modified "2023-10-16" @default.
- W4238609946 title "Acceleration Control" @default.
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- W4238609946 doi "https://doi.org/10.1002/9780470825754.ch3" @default.
- W4238609946 hasPublicationYear "2011" @default.
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