Reference shaping of periodic trajectory for systems having constraints
Reference shaping of periodic trajectory for systems having constraints
复制标题
具有约束的系统的周期轨迹的参考整形
DOI：
10.5687/iscie.17.313
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
H. Suzuki
中科院分区：
文献类型：
--
作者：
Toshharu Sugie;H. Suzuki
研究具有状态/输入约束的闭环系统的离线参考整形问题。我们提出了一种生成参考信号的方法，该方法对给定的受系统约束的周期轨迹具有更好的跟踪性能。为了兼顾暂态和稳态跟踪性能，新的参考信号由两部分组成。这对处理周期性轨迹跟踪问题起着关键作用。首先产生稳态参考信号，以便使受给定系统约束的稳态跟踪误差最小。然后，以类似的方式获得瞬态参考信号，并附加了瞬态与稳态平滑连接的约束。通过组合这些信号，我们得到了形状参考。通过详细的仿真验证了该方法的有效性。并进行了实验验证。
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.