Piecewise Continuous Systems Used in Trajectory Tracking of a Vision Based X-Y Robot

  • Haoping Wang
  • Christian Vasseur
  • Vladan Koncar


This paper deals with a new approach of trajectory tracking for a vision based x-y robot which delivers a delayed and sampled output. A control theory of using a class of piecewise continuous systems named as piecewise continuous controllers and a specific observer enabling sampled tracking is developed. The experimental results show the effectiveness and robustness aspects of the method.


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Copyright information

© Springer Science+Business Media B.V. 2008

Authors and Affiliations

  • Haoping Wang
    • 1
  • Christian Vasseur
    • 1
  • Vladan Koncar
    • 2
  1. 1.Laboratoire d' Automatique, Génie Informatique 8 Signal (LAGIS - UMR CNRS 8146)Université des Sciences et Technologies de LilleFrance
  2. 2.GEnie 8 Matériaux TEXtilesEnsaitFrance

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