In this paper tracking of an unknown multi-sinusoidal signal with fast online frequency
estimation is addressed. The latter has been achieved by the so-called dynamic regressor
extension and mixing (DREM) approach, which allows to increase performance of multiple
frequency estimation. Designed predictive compensation algorithm is capable to operate
under presence of computational or transmission delays. The resultant controller has been
implemented to a robotic arm with a computer vision system. An extensive experimental …