On trajectory design for flexible structures with input and state constraints

被引:0
作者
Auer, Thomas [1 ]
Woittennek, Frank [1 ]
机构
[1] UMIT TIROL Private Univ Hlth Sci & Hlth Technol, Inst Automat & Control Engn, Eduard Wallnofer Zentrum 1, Hall In Tirol, Austria
来源
IFAC PAPERSONLINE | 2023年 / 56卷 / 02期
关键词
linear systems; optimal control; real-time optimal control; trajectory planning;
D O I
10.1016/j.ifacol.2023.10.1468
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Approaches to trajectory planning for lumped parameter models of flexible systems with kinematic input and state constraints are compared. These comprise so-called impulseshaping techniques, a flatness-based approach, and optimal-control methods. The latter includes a novel real-time capable technique for almost time-optimal control. On the basis of a simple example, the different methods are compared in simulation studies w.r.t. the time required for typical rest-to-rest transitions, and, moreover, w.r.t. their robustness to parameter variations.
引用
收藏
页码:3271 / 3277
页数:7
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