DocumentCode :
424988
Title :
Reference shaping of periodic trajectory for systems having constraints
Author :
Sugie, Toshharu ; Suzuki, Hiromi
Author_Institution :
Dept. of Syst. Sci., Kyoto Univ., Japan
Volume :
5
fYear :
2004
fDate :
June 30 2004-July 2 2004
Firstpage :
4657
Abstract :
This paper is concerned with off-line reference shaping for closed-loop systems with state/input constraints. We propose a method to generate reference signals which achieve better tracking property for given periodic trajectories subject to system constraints. In order to take account of both transient and steady state tracking performance, the new reference signals consist of two parts. This plays a key role to deal with periodic trajectory tracking. The steady state reference signals are produced first so as to minimize tracking errors in the steady state subject to given system constraints. Then, the transient reference signals are obtained in a similar way with the additional constraint that the transient states are connected to the steady states smoothly. By combining these signals, we obtain the shaped references. Its effectiveness is demonstrated through detailed simulations. Furthermore, an experimental validation is performed.
Keywords :
closed loop systems; discrete time systems; feedforward; stability; suboptimal control; tracking; closed-loop systems; off-line reference shaping; periodic trajectory tracking; steady state reference signals;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
ISSN :
0743-1619
Print_ISBN :
0-7803-8335-4
Type :
conf
Filename :
1384047
Link To Document :
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