Jerk-constrained time-optimal control of a positioning servo

Raymond Shieh, Yu Sheng Lu

研究成果: 書貢獻/報告類型會議論文篇章

6 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題ICCAS 2010 - International Conference on Control, Automation and Systems
頁面1473-1476
頁數4
出版狀態已發佈 - 2010 十二月 1
事件International Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, 大韓民國
持續時間: 2010 十月 272010 十月 30

出版系列

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

其他

其他International Conference on Control, Automation and Systems, ICCAS 2010
國家大韓民國
城市Gyeonggi-do
期間2010/10/272010/10/30

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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