A smooth trajectory generator useful in motion control systems is presented. The considered generator is a second order nonlinear system which receives as input a step reference signal and provides as output a smooth reference signal satisfying proper nonlinear constraints on the state variables as, for example, bounds on the first time-derivative ẋ of the output x, or bounds expressed in the form |ẍ| ≤ UM(x). The imposed constraints can also be changed during system operation without modifying the system stability. Moreover, almost minimum time response is ensured with guaranteed no overshoot. Finally, the performance of the the nonlinear generator is tested through simulation.
Positioning trajectory generator with nonlinear constraints / Morselli, R.; Zanasi, R.. - 2:(2002), pp. 1177-1182. (Intervento presentato al convegno Proceedings of the 2002 IEEE International Conference on Control Applications tenutosi a Glasgow, gbr nel 2002).
Positioning trajectory generator with nonlinear constraints
Zanasi R.
2002
Abstract
A smooth trajectory generator useful in motion control systems is presented. The considered generator is a second order nonlinear system which receives as input a step reference signal and provides as output a smooth reference signal satisfying proper nonlinear constraints on the state variables as, for example, bounds on the first time-derivative ẋ of the output x, or bounds expressed in the form |ẍ| ≤ UM(x). The imposed constraints can also be changed during system operation without modifying the system stability. Moreover, almost minimum time response is ensured with guaranteed no overshoot. Finally, the performance of the the nonlinear generator is tested through simulation.
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