Discrete second order trajectory generator with nonlinear constraints

R. Morselli, R. Zanasi, Stefano Stramigioli

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    1 Citation (Scopus)

    Abstract

    A discrete second order trajectory generator for motion control systems is presented. The considered generator is a nonlinear system which receives as input a raw reference signal and provides as output a smooth reference signal satisfying nonlinear constraints on the output derivatives as UM-(x) ≤ x ≤ UM+(x) and VM- ≤ x ≤ VM+. The trajectory is generated on-line and the imposed constraints can also be changed during system operation without modifying the system stability. Moreoever, almost minimum time response is ensured with guaranteed no overshoot. The performances of the nonlinear generator are tested through experiments on a linear motor.
    Original languageUndefined
    Title of host publicationProceedings of the 16th IFAC World Congress, 2005
    PublisherIFAC
    Pages200-205
    Number of pages6
    ISBN (Print)978-0-08-045108-4
    DOIs
    Publication statusPublished - 2005
    Event16th IFAC World Congress 2005 - Prague, Czech Republic
    Duration: 3 Jul 20058 Jul 2005
    Conference number: 16
    http://www.utia.cas.cz/news/608

    Publication series

    NameIFAC World Congress
    PublisherIFAC
    Number1
    Volume16

    Conference

    Conference16th IFAC World Congress 2005
    CountryCzech Republic
    CityPrague
    Period3/07/058/07/05
    Internet address

    Keywords

    • CE-Advanced Robotics
    • METIS-248165
    • EWI-12683
    • IR-62287

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