This paper deals with the synthesis and experimental performance evaluation of a contractivity-based nonlinear dynamic motion control scheme for a Laser-Beam Steering (LBS) system, which includes a saturated integral action and a variable gain. The variable gain, in the control law, is used to discriminate between “signal” and “noise” in the velocity measurements, allowing to do a trade-off between the low-frequency tracking and disturbance rejection properties and high-frequency measurement noise amplification, an effect known as waterbed effect. Then, the contractivity-based framework handles the stabilization problem together with the closed-loop performance, allowing one to generalize key properties of linear control systems to analyze transient and steady-state solutions performances in the nonlinear case. The proposed control scheme is evaluated on an experimental platform for the set-point regulation and trajectory tracking problems under different scenarios. Moreover, the effectiveness of the proposed control scheme is compared with linear controllers for the LBS system available in the literature.


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    Title :

    Contractivity-based Variable Gain Dynamic Motion Control for a Laser Beam Steering System:Synthesis and performance analysis



    Publication date :

    2023-06-01


    Remarks:

    Reyes-Báez , R , González-Romeo , L L , Guerrero-Castellanos , J F & Jayawardhana , B 2023 , ' Contractivity-based Variable Gain Dynamic Motion Control for a Laser Beam Steering System : Synthesis and performance analysis ' , Control Engineering Practice , vol. 135 , 105517 . https://doi.org/10.1016/j.conengprac.2023.105517



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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