南方科技大学知识苑(SUSTech KC): Design and implementation of trajectory planning for a high-order bounded reference

题名	Design and implementation of trajectory planning for a high-order bounded reference
作者	Ye，Shengwang 1; Liu，Guo Ping1,2 ; Hu，Wenshan 1; Lei，Zhongcheng 1
发表日期	2024-03-01
DOI	10.1016/j.conengprac.2023.105794
发表期刊	Control Engineering Practice 影响因子和分区
ISSN	0967-0661
卷号	144
摘要	In control engineering, control processes are regulated to prevent transient shocks to test rigs. As an important part of the control loop, the reference may be continuous and bounded to avoid the transient impulse generated by the controller. Therefore, a high-order bounded reference (HOBR) is proposed for the trajectory generation. This paper studies the smooth control process and constrained reference generation for large testing platforms. Utilizing the Hermite interpolation technique, a planning method for the HOBR is proposed to ensure a smooth and bounder generated trajectory, which derives an analytic function for the desired reference. In addition, an observer-based state feedback controller is presented and applied to enable the system output to converge asymptotically to the desired reference. The theoretical analysis shows that the HOBR satisfies continuous constraints and boundary constraints at the same time. Finally, the effectiveness of the proposed HOBR in two constraints is demonstrated by both simulations and experiments.
关键词	Boundary constraints Hermite interpolation method High-order bounded reference Trajectory planning
相关链接	[Scopus记录]
收录类别	SCI ; EI
语种	英语
学校署名	其他
ESI学科分类	ENGINEERING
Scopus记录号	2-s2.0-85181892910
来源库	Scopus
引用统计
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/701410
专题	工学院_系统设计与智能制造学院
作者单位	1.Department of Artificial Intelligence and Automation,Wuhan University,Wuhan,Hubei,430072,China 2.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,Guangdong,518055,China
推荐引用方式 GB/T 7714	Ye，Shengwang,Liu，Guo Ping,Hu，Wenshan,et al. Design and implementation of trajectory planning for a high-order bounded reference[J]. Control Engineering Practice,2024,144.
APA	Ye，Shengwang,Liu，Guo Ping,Hu，Wenshan,&Lei，Zhongcheng.(2024).Design and implementation of trajectory planning for a high-order bounded reference.Control Engineering Practice,144.
MLA	Ye，Shengwang,et al."Design and implementation of trajectory planning for a high-order bounded reference".Control Engineering Practice 144(2024).