Abstract
This paper introduces a novel concept of dual-rate non-linear high order holds, based on artificial neuronal networks, in order to improve control, robustness and stability margin of non-linear processes. The main idea is that artificial networks provide accurate inter-sampling data estimation in dual-rate systems, allowing controlling the process at the fastest possible rate. In addition to this, the paper compares the performance with other approaches taking into account the ideal but non-feasible closed loop at high frequency. For that purpose, the paper considers metrics such as mean square error and settling time to measure the overall performance. The proposed dual-rate non-linear holds have been tested in both, simulation and real processes, and particularly, in an industrial robot within an image-based visual servoing application. The new approach improves with respect to the conventional single-rate behavior and showing higher stability margin than conventional dual-rate holds.
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Solanes, J.E., Armesto, L., Tornero, J., Muñoz-Benavent, P., Girbés, V. (2012). Dual-Rate Non-Linear High Order Holds for Visual Servoing Applications. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_14
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DOI: https://doi.org/10.1007/978-3-642-32527-4_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32526-7
Online ISBN: 978-3-642-32527-4
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