CINECA IRIS Institutional Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishA nonlinear variable structure (VS) system is presented, suitable for smoothtrajectorygeneration in motion control system. Joined to a rough reference trajectory generator (step, ramp, etc.) it provides smooth output signals according to user-selectable bounds on trajectory derivatives. The bounds on output derivatives can be changed during system operation without impairing system stability. Moreover, minimum time response with guaranteed no overshoot is ensured both in the continuous and discrete-time implementations. The main contribution of the paper lies in the discrete-time version of the trajectory generator. The performance of the proposed nonlinearfilters is tested through simulation experiments. Simulation results concerning the use of the discrete filter in a position tracking control system are also presented.
Nonlinear Filters for the Generation of Smooth Trajectories / Zanasi, R.; GUARINO LO BIANCO, Corrado; Tonielli, A.. - In: AUTOMATICA. - ISSN 0005-1098. - 36(2000), pp. 439-448. [10.1016/S0005-1098(99)00164-8]
| Tipologia ministeriale: | Articolo su rivista | |
| Appare nelle tipologie: | 1.1 Articolo su rivista |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| ZanGuaTon00.pdf | Documento in Post-print | NON PUBBLICO - Accesso privato/ristretto | Administrator Richiedi una copia |
http://hdl.handle.net/11381/1454781
Copyright © 2022