This paper is concerned with designing a safety following controller which forces the plant outputs to objective values without any collisions. It is also focused on some conditions of composing the controller so that the plant outputs are regulated to follow to the prescribed desired values without vibrations as well as the closed system is made stable. The feedback and the feedforward gains in structures of the controller of second degree freedom are determined from safe and stable conditions to satisfy such requirements as being safety on following and forming closed loop stability. So some numerical evaluation obtained by applying the controller to the car parking exhibits collision-proof performance in the way of tracking the objective values.
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页码:324 / 329
页数:6
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