Robust reference shaping of periodic trajectories for systems with state/input constraints
Robust reference shaping of periodic trajectories for systems with state/input constraints
复制标题
具有状态/输入约束的系统的周期性轨迹的鲁棒参考整形
DOI：
10.1109/cca.2004.1387616
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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：
T. Sugie;H. 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。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 the 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. Finally, several simulation results are given to demonstrate its effectiveness.