This work presents a novel technique for the solution of an optimal input for trajectory tracking. Many researchers have documented the performance advantages of command shaping, which focuses on the design of an optimal input. Nearly all research in command shaping has been centered on the point-to-point motion control problem. However, tracking problems are also an important application of control theory. The proposed optimal tracking technique extends the point-to-point motion control problem to the solution of the tracking problem. Thus, two very different problems are brought into one solution scheme. The technique uses tolerances on trajectory following to meet constraints and minimize either maneuver time or input energy. A major advantage of the technique is that hard physical constraints such as acceleration or allowable tracking error can be directly constrained. Previous methods to perform such a task involved using various weightings that lack physical meaning. The optimal tracking technique allows for fast and efficient exploration of the solution space for motion control. A solution verification technique is presented and some examples are included to demonstrate the technique.
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Research Papers
The Application of Command Shaping to the Tracking Problem
Michael C. Reynolds,
Michael C. Reynolds
Assistant Professor
Mechanical Engineering,
e-mail: mreynold@uafortsmith.edu
University of Arkansas–Fort Smith
, 5210 Grand Avenue, P.O. Box 3649, Fort Smith, AR 72913
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Peter H. Meckl
Peter H. Meckl
Associate Professor
Search for other works by this author on:
Michael C. Reynolds
Assistant Professor
Mechanical Engineering,
University of Arkansas–Fort Smith
, 5210 Grand Avenue, P.O. Box 3649, Fort Smith, AR 72913e-mail: mreynold@uafortsmith.edu
Peter H. Meckl
Associate Professor
J. Dyn. Sys., Meas., Control. May 2008, 130(3): 031007 (12 pages)
Published Online: April 24, 2008
Article history
Received:
February 13, 2006
Revised:
December 22, 2007
Published:
April 24, 2008
Citation
Reynolds, M. C., and Meckl, P. H. (April 24, 2008). "The Application of Command Shaping to the Tracking Problem." ASME. J. Dyn. Sys., Meas., Control. May 2008; 130(3): 031007. https://doi.org/10.1115/1.2907379
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