Piecewise continuous systems used in trajectory tracking of a vision based X-Y robot

Abstract

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. © Springer Science+Business Media B.V. 2008.