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

Fingerprint

Trajectories
Planning
Motion planning
Wear of materials
Derivatives
Controllers

Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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).

Jerk-constrained time-optimal control of a positioning servo. / Shieh, Raymond; Lu, Yu Sheng.

ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 1473-1476 5670139 (ICCAS 2010 - International Conference on Control, Automation and Systems).

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

Shieh, R & Lu, YS 2010, Jerk-constrained time-optimal control of a positioning servo. in ICCAS 2010 - International Conference on Control, Automation and Systems., 5670139, ICCAS 2010 - International Conference on Control, Automation and Systems, pp. 1473-1476, International Conference on Control, Automation and Systems, ICCAS 2010, Gyeonggi-do, Korea, Republic of, 10/10/27.
Shieh R, Lu YS. Jerk-constrained time-optimal control of a positioning servo. In ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 1473-1476. 5670139. (ICCAS 2010 - International Conference on Control, Automation and Systems).
Shieh, Raymond ; Lu, Yu Sheng. / Jerk-constrained time-optimal control of a positioning servo. ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. pp. 1473-1476 (ICCAS 2010 - International Conference on Control, Automation and Systems).
@inproceedings{1853f44825294e92a9b048018e662957,
title = "Jerk-constrained time-optimal control of a positioning servo",
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.",
keywords = "Jerk constraint, Mode-switching control, Time-optimal control, Trajectory planning",
author = "Raymond Shieh and Lu, {Yu Sheng}",
year = "2010",
month = "12",
day = "1",
language = "English",
isbn = "9781424474530",
series = "ICCAS 2010 - International Conference on Control, Automation and Systems",
pages = "1473--1476",
booktitle = "ICCAS 2010 - International Conference on Control, Automation and Systems",

}

TY - GEN

T1 - Jerk-constrained time-optimal control of a positioning servo

AU - Shieh, Raymond

AU - Lu, Yu Sheng

PY - 2010/12/1

Y1 - 2010/12/1

N2 - 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.

AB - 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.

KW - Jerk constraint

KW - Mode-switching control

KW - Time-optimal control

KW - Trajectory planning

UR - http://www.scopus.com/inward/record.url?scp=78751543096&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78751543096&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:78751543096

SN - 9781424474530

T3 - ICCAS 2010 - International Conference on Control, Automation and Systems

SP - 1473

EP - 1476

BT - ICCAS 2010 - International Conference on Control, Automation and Systems

ER -