Reference shaping for uncertain systems with constraints and its experimental validation
Reference shaping for uncertain systems with constraints and its experimental validation
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具有约束的不确定系统的参考整形及其实验验证
DOI：
10.1109/acc.2003.1239757
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
T. Fukui
中科院分区：
文献类型：
--
作者：
T. Sugie;T. Fukui
本文提出了一种方法，对具有状态/输入约束的闭环系统的原始参考信号进行修正，使被控对象在不确定性存在的情况下，输出快速跟踪参考信号而不违反状态/输入约束。特别是，输出响应的改善被考虑到显式- itly受给定的约束。因此，与现有的参考调速器相反，即使原始参考信号已经满足约束，输出响应也可以得到改善。通过两质量弹簧系统的实验验证了该方法的有效性。
This paper proposes a method to mod- ify the original reference signals for closed loop sys- tems having state/input constraints in such a way that the plant output tracks the reference quickly without violating the state/input constraints in the presence of uncertainty. In particular, improvement of the output response is taken into account explic- itly subject to the given constraints. Therefore, con- trary to the existing reference governors, the out- put responses can be improved even when the con- strains are already satisfied for the original reference signals. The effectiveness of the proposed method is demonstarated through experiments using a two- mass-spring system.