A nonlinear Variable Structure system is presented for smooth trajectory generation 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 deriv_tives can be changed during system operation without impairing system stability. Moreover, almost "minimum time'' response is ensured with guaranteed no overshoot. Both the continuous and discrete-time cases are considered. Performance of the nonlinear filter is tested in simulation.
Nonlinear Filter for Smooth Trajectory Generation / R., Zanasi; GUARINO LO BIANCO, Corrado; A., Tonielli. - (1998), pp. 245-250. (Intervento presentato al convegno Nonlinear Contr. Sys. Design Symp., NOLCOS98 tenutosi a Enschede, the Netherlands nel 1-3 July).
Nonlinear Filter for Smooth Trajectory Generation
GUARINO LO BIANCO, Corrado;
1998-01-01
Abstract
A nonlinear Variable Structure system is presented for smooth trajectory generation 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 deriv_tives can be changed during system operation without impairing system stability. Moreover, almost "minimum time'' response is ensured with guaranteed no overshoot. Both the continuous and discrete-time cases are considered. Performance of the nonlinear filter is tested in simulation.| File | Dimensione | Formato | |
|---|---|---|---|
|
ZanGuaTon98.pdf
non disponibili
Tipologia:
Documento in Post-print
Licenza:
NON PUBBLICO - Accesso privato/ristretto
Dimensione
357.87 kB
Formato
Adobe PDF
|
357.87 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
