Robust reference shaping of periodic trajectories for systems with state/input constraints using impulse and step responses
Robust reference shaping of periodic trajectories for systems with state/input constraints using impulse and step responses
复制标题
使用脉冲和阶跃响应对具有状态/输入约束的系统的周期性轨迹进行鲁棒参考整形
DOI：
10.1109/cdc.2004.1429685
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Hiromi Suzuki
中科院分区：
文献类型：
--
作者：
T. Sugie;Hiromi Suzuki
本文研究状态/输入受限的不确定闭环系统的离线参考成形问题。首先，利用适当的松弛变量，以非保守的方式描述不确定系统约束变量的上下界。然后，对于给定的周期性轨迹，我们提出了一种方法来塑造的参考信号，实现次优的跟踪性能在标称的条件下，系统的约束条件满足存在的不确定性。此外，我们提出了一个开发的阶跃响应信息，以提高该方法。最后给出了几个仿真结果来证明其有效性。
This paper is concerned with off-line reference shaping for uncertain closed loop systems with state/input constraints. First, the upper and lower bounds of the constrained variables of uncertain systems are described in a non-conservative way by using appropriate slack variables. Then, for given periodic trajectories, we propose a method to shape reference signals which achieve the sub-optimal tracking performance at the nominal subject to the condition that the system constraints are satisfied in the presence of uncertainties. Furthermore, we propose an exploitation of step response information to enhance the method. Finally, several simulation results are given to demonstrate its effectiveness.