Jerk-constrained time-optimal control of a positioning servo

Raymond Shieh, Yu Sheng Lu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper presents a jerk-constrained time-optimal control (JCTOC) method for a positioning servo. While high jerk, the derivative of acceleration with respect to time, can cause problems such as vibrations and high wear to mechanical parts, it is then important to limit the maximum jerk in many control applications. Many trajectory planning methods have been proposed, limiting the maximum jerk during the optimized planning of the desired path. Distinct from the previous path-planning methods that yield jerk-constrained ideal trajectories only, the approach proposed in this paper directly controls the jerk of the plant while guaranteeing minimum-time performance under the specified jerk constraint. Simulation studies of the JCTOC compared with the conventional PD controller have been conducted, demonstrating that the proposed control requires less control effort and also offers the time-optimal response with admissible jerk.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages1473-1476
Number of pages4
Publication statusPublished - 2010 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

Keywords

  • Jerk constraint
  • Mode-switching control
  • Time-optimal control
  • Trajectory planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Shieh, R., & Lu, Y. S. (2010). Jerk-constrained time-optimal control of a positioning servo. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 1473-1476). [5670139] (ICCAS 2010 - International Conference on Control, Automation and Systems).