Trajectory Planning Approach to Output Tracking for a 1-D Wave Equation

被引：46

作者：

Feng, Hongyinping ^{[1
]}

Guo, Bao-Zhu ^{[2
,3
]}

Wu, Xiao-Hui ^{[1
]}

机构：

[1] Shanxi Univ, Sch Math Sci, Taiyuan 030006, Peoples R China

[2] North China Elect Power Univ, Dept Math & Phys, Beijing 102206, Peoples R China

[3] Acad Sinica, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2020年 / 65卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Propagation; Observers; Trajectory; Planning; Mathematical model; Measurement uncertainty; Payloads; Error-based feedback; noncollocated configuration; observer; output tracking; wave equation; INTERNAL-MODEL PRINCIPLE; DISTURBANCE REJECTION; FEEDBACK REGULATORS; BACKSTEPPING DESIGN; STABILIZATION; SYSTEMS; SERVOMECHANISM; SUBJECT;

D O I：

10.1109/TAC.2019.2937727

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, we propose a trajectory planning approach to deal with various of the noncollocated configurations of output tracking through a one-dimensional wave equation. We mainly consider two noncollocated configurations: the performance output is noncollocated to the control input and the disturbance is noncollocated to the measurement output. By proper trajectory planning, the noncollocated configurations can be converted into the collocated ones so that the conventional method can be applied. An error-based feedback is proposed to realize the output tracking. Finally, as an application, the output tracking with general harmonic disturbance and reference signal are exemplified. Numerical simulation shows that the proposed approach is very effective.

引用

页码：1841 / 1854

页数：14

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